Advanced experiments with a teleoperation system based on the SC approach

Y. Tsumaki, S. Kotera, D. N. Nenchev, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    8 Citations (Scopus)

    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 languageEnglish
    Pages1196-1201
    Number of pages6
    Publication statusPublished - 1998 Dec 1
    EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
    Duration: 1998 Oct 131998 Oct 17

    Other

    OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
    CityVictoria, Can
    Period98/10/1398/10/17

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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