Abstract
In our previous work we proposed two approaches to singularity treatment: one is based on a null space notation, and the other on the adjoint Jacobian. We use the term `singularity-consistent (SC) approach' in referring to any of them. The SC approach guarantees the direction of motion in the whole work space. Thus, it becomes possible to move through singularities in teleoperated mode, without producing an infeasible joint velocity. However, a precise command direction is needed to accomplish such a specific motion. In this paper, we propose a supporting system for the operator to handle the above problem. An advanced SC teleoperation system is obtained, based on virtual reality techniques. Experimental results show that a real peg-in-hole task, including through-singularity motion, can be easily realized by the operator.
Original language | English |
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Pages | 1196-1201 |
Number of pages | 6 |
Publication status | Published - 1998 Dec 1 |
Event | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: 1998 Oct 13 → 1998 Oct 17 |
Other
Other | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) |
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City | Victoria, Can |
Period | 98/10/13 → 98/10/17 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications