Merge branch 'master' of https://gitlab.control.lth.se/cont-mkr/teleoperation_extctrl_simulink

README.md

+This is an implementation (mainly Matlab Simulink) of the haptic interface for 
+teleoperation described in 
+
+Ghazaei Ardakani, M. M., M. Karlsson, K. Nilsson, A. Robertsson, 
+and R.Johansson
+(2018). “Master-slave coordination using virtual constraintsfor a redundant 
+dual-arm haptic interface”. In:IEEE/RSJ Interna-tional Conference on Intelligent
+Robots and Systems (IROS). October1–5, Madrid, Spain, pp. 8751–8757.
+
+A video is available here:
+https://www.youtube.com/watch?v=4u57bEA4bqg
+
+Compile Simulink file:
+
+Open teleoperation.mdl
+
+Click on red box (you may have to adjust paths. You also need dynamics, see below.)
+
+Press ctrl+B to build (c-code is generated and compiled)
+
+An executable is generated into /tmp/$USER
+
+You also need the robot dynamics for this. It is not public. Please contact
+Congibotics to get the dynamics for ABB Frida (YuMi prototype).
+
+See also wiki for info about Frida and force sensors:
+https://sites.google.com/a/ulund.org/robotwiki/robots/frida
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