Control of robot in singular configurations for human-robot coordination

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the Singular Configuration Control (SCC). In this paper, as an example, we derive the control algorithm. for the manipulator "PA-10" produced by Mitsubishi Heavy Industries, Ltd. The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator's configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to a robot with dual manipulators referred to as MR Helper and the experimental results illustrate the validity of the Singular Configuration Control.

Original languageEnglish
Title of host publicationIEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings
Pages356-361
Number of pages6
DOIs
Publication statusPublished - 2002 Dec 1
Event11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002 - Berlin, Germany
Duration: 2002 Sep 252002 Sep 27

Other

Other11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002
CountryGermany
CityBerlin
Period02/9/2502/9/27

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

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