Experimental teleoperation of a nonredundant slave arm at and around singularities

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

    Research output: Contribution to journalConference articlepeer-review

    3 Citations (Scopus)

    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 languageEnglish
    Pages (from-to)385-392
    Number of pages8
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    Publication statusPublished - 1996 Jan 1
    EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    Duration: 1996 Apr 221996 Apr 28

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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