| |
|
|
|
|
|
|
|
|
|
|
|
| |
|
|
|
[Th023] Citation: Abstract
In teleoperation, problems can occur when a slave manipulator loses
the ability to move or exert force in some directions/orientations due
to its configuration. The configuration near and at a manipulator s
kinematic singularity can cause failure in the control algorithm and
may result in the loss of kinesthetic correspondence between the
operator and the slave manipulator. Haptic interface is bi-directional
and yields small response time. Therefore the manipulator kinematic
conditioning information can be presented to the operator more
effectively using haptic feedback than the conventional visual
feedback during real-time teleoperation. Singularity force feedback
(SFF) is proposed to be an interactive solution to the singularity
problem. SFF exists only in the neighborhood of singularity. SFF is
created to reduce the command velocity in the critical direction and
to guide the command motion to the feasible direction near a
singularity. A procedural scheme for assigning the appropriate value
of the parameters in SFF calculation is established. The proposed SFF
model is analyzed in term of stability, passivity and error
convergence. Teleoperation experiment is performed to validate the
concept of SFF. The results from the experiment demonstrate that
haptic feedback can effectively convey information about kinematic
conditioning of a slave manipulator to the operator in real-time
teleoperation. The proposed SFF method can improve the kinematic
performance of teleoperation near singularity.
["I would like a hard copy of this report"]
[Copyright]
[HELP!]
Updated: Tue Aug 19 09:16:10 2008
| |
