Advanced experiments with a teleoperation system based on the SC approach

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

    研究成果: Paper査読

    8 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ1196-1201
    ページ数6
    出版ステータスPublished - 1998 12 1
    イベントProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
    継続期間: 1998 10 131998 10 17

    Other

    OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
    CityVictoria, Can
    Period98/10/1398/10/17

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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