Singularity avoidance by inputting angular velocity to a redundant axis during cooperative control of a teleoperated dual-arm robot

Masanori Hayakawa, Keiko Hara, Daisuke Sato, Atsushi Konno, Masaru Uchiyama

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

    18 Citations (Scopus)

    Abstract

    This paper describes a procedure of avoiding singularity for a redundantly-driven, dual-arm, master-slave robotic system. In cooperative operation, the procedure starts with a periodic check if one of the dual arms is close to a singular configuration by examining the manipulability of the arm. If it is close to a singularity, then the system stops its cooperative operation and control scheme switches to redundancy control. Then the operator manipulates the joint until the arm moves away from the singular configuration by inputing angular velocity to a redundant axis. The fact that the operator can select a new arm configuration to avoid singular configuration in teleoperation is the contribution of this research. After moving away from the singular configuration, the system can resume cooperative operation. Because this manual operation applies to a redundant axis only (in the null space of the Jacobian matrix), it does not affect the current end-effector pose and force status. Experimental examples are provided to demonstrate the proposed method.

    Original languageEnglish
    Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    Pages2013-2018
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Sep 18
    Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
    Duration: 2008 May 192008 May 23

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    CountryUnited States
    CityPasadena, CA
    Period08/5/1908/5/23

    ASJC Scopus subject areas

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

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