Experimental teleoperation of a nonredundant slave arm at and around singularities

Y. Tsumaki; D. N. Nenchev; M. Uchiyama

Experimental teleoperation of a nonredundant slave arm at and around singularities

Y. Tsumaki, D. N. Nenchev, M. Uchiyama

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper 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 adjoint 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. Here we focus mainly on several implementation issues and the experimental results obtained from our teleoperation system.

Original language	English
Pages (from-to)	385-392
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
Publication status	Published - 1996 Jan 1
Event	Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 1996 Apr 22 → 1996 Apr 28

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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abstract = "In this paper 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 adjoint 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. Here we focus mainly on several implementation issues and the experimental results obtained from our teleoperation system.",

author = "Y. Tsumaki and Nenchev, {D. N.} and M. Uchiyama",

year = "1996",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) ; Conference date: 22-04-1996 Through 28-04-1996",

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AU - Nenchev, D. N.

AU - Uchiyama, M.

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N2 - In this paper 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 adjoint 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. Here we focus mainly on several implementation issues and the experimental results obtained from our teleoperation system.

AB - In this paper 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 adjoint 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. Here we focus mainly on several implementation issues and the experimental results obtained from our teleoperation system.

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M3 - Conference article

AN - SCOPUS:0029719372

VL - 1

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EP - 392

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4)

Y2 - 22 April 1996 through 28 April 1996

ER -

Experimental teleoperation of a nonredundant slave arm at and around singularities

Abstract

ASJC Scopus subject areas

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