Teleoperation based on the adjoint Jacobian approach

In this article we introduce a method for telecontrol of nonredundant slave arms based on the adjoint Jacobian approach. Cartesian velocity command inputs are used to teleoperate the slave arm smoothly within the whole workspace, including the vicinity of singularities. Moreover, teleoperation at a codimension one singularity is also possible, yielding specific motion patterns. Those include the motion through the singularity, resulting in a reconfigured kinematic chain. The method presented here is, in fact, an alternative to the singularity-consistent null space based approach developed earlier. We discuss some implementation details and provide simulation and experimental data derived during teleoperation of a virtual planar 2R arm and the wrist of a real robot