Experimental teleoperation of a nonredundant slave arm at and around singularities

We discuss the implementation and experimental verification of two new approaches to control of a nonredundant manipulator at and around singularities. One of the approaches is based on the adjoined matrix of the manipulator Jacobian, while the other one is a null-space based approach. The approaches share a common theoretical base described in our previous work. We focus mainly on several implementation issues and the experimental results obtained from our teleoperation system.

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