Commit 50e29c9b authored by Martin Karlsson's avatar Martin Karlsson
Browse files


parent edc6ce53
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.
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.
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