English/Japanese

SC approach

We proposed two approaches to singularity treatment: one is based on a null space notation, and the other on an adjoint Jacobian. We call these approaches as the singularity-consistent approach. Both methods guarantee the direction of motion in the whole work space, without producing an infeasible joint velocity. The performance has been experimentally verified with a 6-DOF manipulator. We also apply the method to a redundant 7-DOF manipulator. The experimental results show that the 7-DOF manipulator can be operated safely with feasible joint velocity and without any error in the direction of motion.

 

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Fig. 1 PA-10

 

References

  1. Y. Tsumaki, D. N. Nenchev and M. Uchiyama, Experimental Teleoperation of a Nonredundant Slave Arm at and around Singularities, Proceedings 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, pp. 385-392, 1996.
  2. D. N. Nenchev, Y. Tsumaki and M. Uchiyama, Adjoint Jacobian Closed-Loop Kinematic Control of Robots, Proceedings 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, pp. 1235-1240, 1996.
  3. D. N. Nenchev, Y. Tsumaki, M. Uchiyama, V. Senft and G. Hirzinger, Two Approaches to Singularity-Consistent Motion of Nonredundant Robotic Mechanisms, Proceedings 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, pp. 1883-1890, 1996.
  4. D. N. Nenchev, Y. Tsumaki, S. Ma and M. Uchiyama, Singularity-Consistent Dynamic Path Tracking Under Torque Limits, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, pp. 590-595, 1996.
  5. Y. Tsumaki, D. N. Nenchev, S. Kotera and M. Uchiyama, Teleoperation Based on the Adjoint Jacobian Approach, IEEE Control Systems Magazine, Vol. 17, No. 1, pp. 53-62, 1997.
  6. Y. Tsumaki, D. N. Nenchev, S. Kotera and M. Uchiyama, Singularity-Consistent Inverse Kinematics of a 6 D.O.F. Manipulator with a Non-Spherical Wrist, Proceedings 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, pp. 2980-2985, 1997.
  7. D. N. Nenchev, Y. Tsumaki and M. Uchiyama, Singularity-Consistent Behavior of Telerobots: Theory and Experiments, The International Journal of Robotics Research, Vol. 17, No. 2, pp. 138-152, 1998.
  8. Y. Tsumaki, S. Kotera, D. N. Nenchev and M. Uchiyama, Advanced Experiments with a Teleoperation System Based on the SC Approach, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C., Canada, pp. 1196-1201, 1998.
  9. D. N. Nenchev, Y. Tsumaki and M. Uchiyama, Singularity Consistency and the Natural Motion of Robot Manipulators, Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, Florida, pp. 407-412, 1998.
  10. D. N. Nenchev, Y. Tsumaki and M. Uchiyama, Real-Time Motion Control in the Neighborhood of Singularities: A Comparative Study Between the SC and the DLS Method, Proceedings 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, pp. 506-511, 1999.
  11. D. N. Nenchev, Y. Tsumaki, M. Uchiyama, Singularity-Consistent Parameterization of Robot Motion and Control, The International Journal of Robotics Research, Vol. 19, No. 2, pp. 159-182, 2000.
  12. Y. Tsumaki, P. Fiorini, G. Chalfant, H. Seraji, A Numerical SC Approach for a Teleoperated 7-DOF Manipulator, Proceedings 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 1039-1044, 2001.
  13. D. N. Nenchev and Y. Tsumaki, The Singularity-Consistent Method Applied to a Four-DOF Redundant Manipulator, Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, pp. 851-856, 2002.
  14. D. N. Nenchev and Y. Tsumaki, Motion Analysis of a Kinematic Redundant Seven-DOF Manipulator Under the Singularity-Consistent Method, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp.2760-2765, 2003.
  15. D. N. Nenchev, Y. Tsumaki, M. Takahashi, Singularity-Consistent Kinematic Redundancy Resolution for the S-R-S Manipulator, Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3607-3612, 2004.

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