Singularity-consistent inverse kinematics of a 6 D.O.F. manipulator with a non-spherical wrist

Y. Tsumaki, S. Kotera, D. N. Nenchev, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    12 Citations (Scopus)

    Abstract

    The singularity-consistent path-planning and motion control approach has been so far successfully tested within a teleoperation environment, but with separate control of the positioning subsystem and the wrist of the slave arm. In this paper, we show that the approach can be applied to a 6 D.O.F. slave arm with a non-spherical wrist. The problems arising from the coupling between position and orientation are handled easily within the null-space/adjoint Jacobian framework of the singularity-consistent approach. The experiments show that the operator is able to approach the shoulder singularity smoothly, to move through it or to perform motions without leaving it.

    Original languageEnglish
    Pages (from-to)2980-2985
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume4
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    ASJC Scopus subject areas

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

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