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[105] Citation: Abstract
This paper studies the effects of three methods of kinematic
redundancy resolution on teleoperation performance with a redundant
slave robot in telemanipulation. First, we derived three kinematic
redundancy control modes expressing different trade-offs between
kinetic energy level, joint usage, and joint limit avoiding. To
validate our algorithms we performed simulations, autonomous robot
tests, and teleoperation experiments. The trade-off between kinetic
energy level and joint limit index was clearly shown in the autonomous
test. For teleoperation, 4 tasks and 7 indices were defined. A 3 dof
pen-based master and 5 dof mini-direct-drive robot were used with
position to position control in Cartesian space. Tasks were x, y, and z
positioning and contact force control giving 2 dof kinematic redundancy
in the slave robot. Overall, the inertia-weighted pseudo-inverse,
proposed by Whitney in 1969, showed best performance, while the least
square mode (using no inertial information) showed the worst
performance.
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Updated: Tue Jul 15 23:54:50 2008
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