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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/nxt1eglhjmkie8rxg2icone5i
- Original: https://arxiv.org/abs/2610.29565

## Summary

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.