Title :
Experimental teleoperation of a nonredundant slave arm at and around singularities
Author :
Tsumaki, Y. ; Nenchev, D.N. ; Uchiyama, M.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
We discuss the implementation and experimental verification of two new approaches to control of a nonredundant manipulator at and around singularities. One of the approaches is based on the adjoined matrix of the manipulator Jacobian, while the other one is a null-space based approach. The approaches share a common theoretical base described in our previous work. We focus mainly on several implementation issues and the experimental results obtained from our teleoperation system
Keywords :
Jacobian matrices; manipulator kinematics; motion control; telerobotics; tracking; Jacobian matrix; kinematics; nonredundant manipulator; nonredundant slave arm; null-space based approach; singularities; teleoperation; Jacobian matrices; Master-slave; Motion control; Orbital robotics; Robot kinematics; Robot sensing systems; Sensor systems; Space shuttles; Telerobotics; Wrist;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503807
