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

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 journal › Conference article › peer-review

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 language	English
Pages (from-to)	2980-2985
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
Publication status	Published - 1997 Jan 1
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA Duration: 1997 Apr 20 → 1997 Apr 25

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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

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.",

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year = "1997",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) ; Conference date: 20-04-1997 Through 25-04-1997",

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T1 - Singularity-consistent inverse kinematics of a 6 D.O.F. manipulator with a non-spherical wrist

AU - Tsumaki, Y.

AU - Kotera, S.

AU - Nenchev, D. N.

AU - Uchiyama, Masaru

PY - 1997/1/1

Y1 - 1997/1/1

N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:0030650830

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EP - 2985

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4)

Y2 - 20 April 1997 through 25 April 1997

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