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

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4 Author(s)
Tsumaki, Y. ; Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan ; Kotera, S. ; Nenchev, D.N. ; Uchiyama, M.

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

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997