Teleoperation Performance with a Kinematically Redundant Slave Robot

Hwang, D.Y. and Hannaford, B. (1998) Teleoperation Performance with a Kinematically Redundant Slave Robot. International Journal of Robotics Research, 17 (6). pp. 579-597.

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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.

Item Type: Article
Subjects: B Teleoperation > B Teleoperation (General)
Divisions: Department of Electrical Engineering
Depositing User: Muneaki Miyasaka
Date Deposited: 27 Jul 2015 23:46
Last Modified: 27 Jul 2015 23:46

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