Teleoperation based on the adjoint Jacobian approach

In this article we introduce a method for telecontrol of nonredundant slave arms based on the adjoint Jacobian approach. Cartesian velocity command inputs are used to teleoperate the slave arm smoothly within the whole workspace, including the vicinity of singularities. Moreover, teleoperation at a codimension one singularity is also possible, yielding specific motion patterns. Those include the motion through the singularity, resulting in a reconfigured kinematic chain. The method presented here is, in fact, an alternative to the singularity-consistent null space based approach developed earlier. We discuss some implementation details and provide simulation and experimental data derived during teleoperation of a virtual planar 2R arm and the wrist of a real robot.

[1]  Charles W. Wampler,et al.  Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods , 1986, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[3]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[4]  Jon C. Kieffer,et al.  Differential analysis of bifurcations and isolated singularities for robots and mechanisms , 1994, IEEE Trans. Robotics Autom..

[5]  T. Shamir,et al.  The Singularities of Redundant Robot Arms , 1990, Int. J. Robotics Res..

[6]  Gerd Hirzinger,et al.  Redundant motions of non-redundant robots a new approach to singularity treatment , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[7]  Ignacy Duleba,et al.  On inverting singular kinematics and geodesic trajectory generation for robot manipulators , 1993, J. Intell. Robotic Syst..

[8]  J. Kieffer Manipulator Inverse Kinematics for Untimed End-Effector Trajectories With Ordinary Singularities , 1992 .

[9]  Sukhan Lee,et al.  Computer control of space-borne teleoperators with sensory feedback , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[10]  Masaru Uchiyama,et al.  Singularity-Consistent Behavior of Telerobots: Theory and Experiments , 1998, Int. J. Robotics Res..

[11]  Sunil K. Singh Motion planning and control of nonredundant manipulators at singularities , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[12]  John Baillieul,et al.  Kinematic programming alternatives for redundant manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[13]  Carlos Canudas de Wit,et al.  Controllability issues of robots in singular configurations , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[14]  Peter Kovesi,et al.  ET: A Wrist Mechanism without Singular Positions , 1986 .

[15]  Masaru Uchiyama,et al.  Singularity-consistent path tracking: a null space based approach , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[16]  Masaru Uchiyama,et al.  Experimental teleoperation of a nonredundant slave arm at and around singularities , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[17]  Sunil K. Singh Motion Planning and Control of Non-Redundant Manipulators at Singularities. , 1993 .

[18]  Nazareth Bedrossian,et al.  Characterizing spatial redundant manipulator singularities , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[19]  Dragomir N. Nenchev,et al.  Tracking Manipulator Trajectories With Ordinary Singularities: A Null Space-Based Approach , 1995, Int. J. Robotics Res..

[20]  Masaru Uchiyama,et al.  Two approaches to singularity-consistent motion of nonredundant robotic mechanisms , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[21]  M. Uchiyama A Study of Computer Control of Motion of a Mechanical Arm : 1st Report, Calculation of Coordinative Motion Considering Singuler Points , 1979 .