Teleoperation Performance with a Kinematically Redundant Slave Robot
2
D.Y. Hwang
B. Hannaford
Submitted to International Journal of Robotics Research, Jan. 1996
1996 IJRR
http://brl.ee.washington.edu/brl/publications/T003Hwang.pdf
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
en-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.