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 |
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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