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[114] Citation: Abstract
Kinematic conditioning at singularity is the problem where small
motions in cartesian space cause excessive joint velocities. This
problem is significant in teleoperation. Haptic feedback provides the
bi-directional flow of information which allows the operator to control
the telerobot interactively. Haptic representation of kinematic
singularity is proposed as a new approach to achieve better performance
in telerobotic control near kinematic singularities. Four different
singularity force feedback methods are defined and studied. Experimental
results with a force feedback Master and simulated Slave system show
that teleoperation performance near singular configurations was affected
and improved by using singularity force feedback.
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Updated: Tue Jul 15 23:54:50 2008
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