Singularity-consistent behavior of telerobots: Theory and experiments

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

    Research output: Contribution to journalArticlepeer-review

    15 Citations (Scopus)


    In this paper, the authors develop a method for singularity-consistent teleoperation of nonredundant slave arms under a Cartesian-space velocity control mode. The theoretical base is a parameterized autonomous system, which is obtained through a virtual instantaneous closure of the kinematic chain. The authors discuss several implementation issues, among them the need of shared control at certain singularities. Results from an experimental study are also provided.

    Original languageEnglish
    Pages (from-to)138-152
    Number of pages15
    JournalInternational Journal of Robotics Research
    Issue number2
    Publication statusPublished - 1998

    ASJC Scopus subject areas

    • Software
    • Modelling and Simulation
    • Mechanical Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Applied Mathematics


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