Control of robot in singular configurations for human-robot coordination

Kentaro Nakai, Kazuhiro Kosuge, Yasuhisa Hirata

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Citations (Scopus)

Abstract

In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the Singular Configuration Control (SCC). In this paper, as an example, we derive the control algorithm. for the manipulator "PA-10" produced by Mitsubishi Heavy Industries, Ltd. The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator's configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to a robot with dual manipulators referred to as MR Helper and the experimental results illustrate the validity of the Singular Configuration Control.

Original languageEnglish
Title of host publicationIEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings
Pages356-361
Number of pages6
DOIs
Publication statusPublished - 2002
Event11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002 - Berlin, Germany
Duration: 2002 Sept 252002 Sept 27

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002
Country/TerritoryGermany
CityBerlin
Period02/9/2502/9/27

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