Haptic Feedback of Kinematic Conditioning for Telerobotic Applications

Maneewarn, T. and Hannaford, B. (1998) Haptic Feedback of Kinematic Conditioning for Telerobotic Applications. In: Proceedings of IROS 98.

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Official URL: http://brl.ee.washington.edu/BRL_Pubs/Pdfs/Rep114....


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.

Item Type: Conference or Workshop Item (Paper)
Subjects: D Haptics
Depositing User: Muneaki Miyasaka
Date Deposited: 27 Jul 2015 23:45
Last Modified: 27 Jul 2015 23:45
URI: http://brl.ee.washington.edu/eprints/id/eprint/211

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