Reasons for Singularity in Robot Teleoperation

In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.