Singularity-consistent inverse kinematics of a 6-DOF manipulator with a non-spherical wrist

The singularity-consistent path-planning and motion control approach has so far been 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-DOF 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.

[1]  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.

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

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

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

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

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

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

[8]  C. Melchiorri Conisiderations About the Use of Minimum Norm Criteria for the Solution of Kinematic Problems , 1990, 1990 American Control Conference.

[9]  Masaru Uchiyama,et al.  Teleoperation based on the adjoint Jacobian approach , 1997 .

[10]  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.

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

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

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