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