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TítuloTeleoperating a mobile manipulation using a UAV camera without robot self occlusions

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Academic year: 2020

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Figure

Figure 1: The BMM-I and the free-flying camera.
Figure 2: Exerted forces on the links by the prox- prox-imity of the TCP. The TCP lies outside the area where the forces f 1 or f 2 are generated, which has been presented this way for ease of visualization.
Figure 3: OBVF simulation 1: a) modulus of the force f when the OBVF is active; b) minimum distances between d 1 and d 2 , i.e., min(d 1 , d 2 ), with the OBVF active (blue) and not active (red).
Figure 7: Simulation 2 without activation. Images follows from left to right and top to bottom.
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