Skip to main content
. Author manuscript; available in PMC: 2010 May 27.
Published in final edited form as: IEEE Trans Robot. 2007 Dec 1;23(6):1240–1246. doi: 10.1109/TRO.2007.909825

Fig. 1.

Fig. 1

A teleoperator consists of a master manipulator, a slave manipulator, and a controller that virtually connects the tips of the two manipulators. Local controllers are added to compensate for friction of the manipulators.