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Actuator-Constraint-Aware Master-Slave Control Method for Teleoperation of Manipulators with Coupled Transmissions

An actuator-constraint-aware master-slave teleoperation method that jointly models master-side gravity compensation, master-slave joint mapping, and slave-side differential wrist control, addressing the problem that independent motor saturation in differential wrists disrupts pitch-roll coordination and that fixed mappings struggle with abrupt tracking changes caused by gravitational loads and actuator constraints.

Part of the event: Proposes actuator-constraint-aware robotic arm teleoperation method

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