Control of robot in singular configurations for human-robot coordination

Kentaro Nakai; Kazuhiro Kosuge; Yasuhisa Hirata

doi:10.1109/ROMAN.2002.1045648

Control of robot in singular configurations for human-robot coordination

Kentaro Nakai, Kazuhiro Kosuge, Yasuhisa Hirata

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings
Pages	356-361
Number of pages	6
DOIs	https://doi.org/10.1109/ROMAN.2002.1045648
Publication status	Published - 2002 Dec 1
Event	11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002 - Berlin, Germany Duration: 2002 Sept 25 → 2002 Sept 27

Other

Other	11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002
Country/Territory	Germany
City	Berlin
Period	02/9/25 → 02/9/27

ASJC Scopus subject areas

Software
Artificial Intelligence
Human-Computer Interaction

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10.1109/ROMAN.2002.1045648

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Nakai, K, Kosuge, K & Hirata, Y 2002, Control of robot in singular configurations for human-robot coordination. in IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings., 1045648, pp. 356-361, 11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002, Berlin, Germany, 02/9/25. https://doi.org/10.1109/ROMAN.2002.1045648

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title = "Control of robot in singular configurations for human-robot coordination",

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.",

author = "Kentaro Nakai and Kazuhiro Kosuge and Yasuhisa Hirata",

year = "2002",

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doi = "10.1109/ROMAN.2002.1045648",

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AU - Nakai, Kentaro

AU - Kosuge, Kazuhiro

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N2 - 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.

AB - 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.

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BT - IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings

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ER -

Control of robot in singular configurations for human-robot coordination

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