Singularity avoidance by inputting angular velocity to a redundant axis during cooperative control of a teleoperated dual-arm robot.
Masanori HayakawaKeiko HaraDaisuke SatoAtsushi KonnoMasaru UchiyamaPublished in: ICRA (2008)
Keyphrases
- robotic arm
- angular velocity
- cooperative
- degrees of freedom
- visual servoing
- master slave
- motion planning
- force feedback
- end effector
- visual feedback
- control system
- mobile robot
- control architecture
- inverse kinematics
- path planning
- multi agent
- robot manipulators
- motion control
- hand gestures
- robotic systems
- human robot interaction
- robot arm
- position and orientation
- autonomous robots
- control method
- control loop
- multi agent systems
- walking robot