Advanced experiments with a teleoperation system based on the SC approach

In our previous work we proposed two approaches to singularity treatment: one is based on a null space notation, and the other on the adjoint Jacobian. We use the term `singularity-consistent (SC) approach' in referring to any of them. The SC approach guarantees the direction of motion in the whole work space. Thus, it becomes possible to move through singularities in teleoperated mode, without producing an infeasible joint velocity. However, a precise command direction is needed to accomplish such a specific motion. In this paper, we propose a supporting system for the operator to handle the above problem. An advanced SC teleoperation system is obtained, based on virtual reality techniques. Experimental results show that a real peg-in-hole task, including through-singularity motion, can be easily realized by the operator.