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. 2019 Jul 31;19(15):3359. doi: 10.3390/s19153359

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© 2019 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Cartesian frames in the DRNDT system. $R m and R s$ are the two robots, master and slave robot. { $M$ } and { $S$ } are the base frames of them. { $F M$ } and { $F S$ } are the flange frames of them. { $T S$ } and { $T M$ } are the tool frames of the two robots. { $W$ } is the workpiece frame.