|
Haptics Commmunity Web Page
Online Haptics Library
|
Abstract: Teleoperation Performance with a Kinematically Redundant Slave Robot
Teleoperation Performance with a Kinematically Redundant Slave Robot
D.Y. Hwang
B. Hannaford
Submitted to International Journal of Robotics Research, Jan. 1996
© 1996 IJRR.
Personal use of this material is permitted. However, permission to
reprint/republish this material for advertising or promotional
purposes or for creating new collective works for resale, or to reuse
any copyrighted component of this work in other works must be obtained
from the International Journal of Robotics Research.
Abstract:
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.
This document is available in the following forms:
