To give people social or political freedom and rights. (Cambridge Dictionary)
To free from restraint, influence, or the like. (Dictionary.com)
To free (a slave) from bondage. (Dictionary.com)
Set free, especially from legal, social, or political restrictions. (Oxford Dictionaries)
Free (someone) from slavery. (Oxford Dictionaries)
To free from restraint, control, or the power of another. (Merriam – Webster)
To release from parental care and responsibility. (Merriam – Webster)
To free from any controlling influence (such as traditional mores or beliefs). (Merriam – Webster)
If people are emancipated, they are free from unpleasant or unfair, political, or legal restrictions. (Collins Dictionary)
Slavery, Emancipation, and Freedom: Comparative Perspectives.
Emancipation and Freedom–the difference.