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The control strategy is hierarchical comprising of a high-level teleoperation coordinating controller and low-level joint velocity controllers. The approach utilizes idempotent, generalized pseudoinverse and weighting matrices in order to achieve new performance objectives that are defined for such asymmetric semi-autonomous teleoperation systems. Three layers of velocity-based autonomous control at different priority levels with respect to human teleoperation are integrated into the framework. A detailed analysis of system performance and stability is presented. Experimental results with a single-master\/dual-slave system configuration demonstrate an application of the proposed system design and control strategy.<\/p>","DOI":"10.4018\/ijrat.2014010103","type":"journal-article","created":{"date-parts":[[2015,1,20]],"date-time":"2015-01-20T20:27:40Z","timestamp":1421785660000},"page":"35-60","source":"Crossref","is-referenced-by-count":0,"title":["Mixed Autonomous\/Teleoperation Control of Asymmetric Robotic Systems"],"prefix":"10.4018","volume":"2","author":[{"given":"Pawel","family":"Malysz","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada"}]},{"given":"Shahin","family":"Sirouspour","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada"}]}],"member":"2432","reference":[{"key":"ijrat.2014010103-0","doi-asserted-by":"crossref","unstructured":"Abbott, J. 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