Control of robot in singular configurations for human-robot coordination

Kentaro Nakai; Kazuhiro Kosuge; Yasuhisa Hirata

doi:10.1109/ROMAN.2002.1045648

Control of robot in singular configurations for human-robot coordination

Kentaro Nakai
, Kazuhiro Kosuge
, Yasuhisa Hirata

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-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. © 2002 IEEE.

Original language	English
Title of host publication	IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings
Pages	356-361
DOIs	https://doi.org/10.1109/ROMAN.2002.1045648
Publication status	Published - 2002
Externally published	Yes
Event	11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002 - Berlin, Germany Duration: 25 Sept 2002 → 27 Sept 2002

Publication series

Name	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference	11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002
Place	Germany
City	Berlin
Period	25/09/02 → 27/09/02

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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Nakai, K., Kosuge, K., & Hirata, Y. (2002). Control of robot in singular configurations for human-robot coordination. In IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings (pp. 356-361). Article 1045648 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2002.1045648

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Nakai, K, Kosuge, K & Hirata, Y 2002, Control of robot in singular configurations for human-robot coordination. in IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings., 1045648, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 356-361, 11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002, Berlin, Germany, 25/09/02. https://doi.org/10.1109/ROMAN.2002.1045648

Control of robot in singular configurations for human-robot coordination. / Nakai, Kentaro; Kosuge, Kazuhiro; Hirata, Yasuhisa.
IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings. 2002. p. 356-361 1045648 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AB - 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. © 2002 IEEE.

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Control of robot in singular configurations for human-robot coordination

Abstract

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Bibliographical note

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