Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master
Conference paper > Full Text · 2012
Authors: Apoorva D. Kapadia, Ian. D. Walker, Enver TATLICIOĞLU
25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), Portugal, International, Verbal, Full Text, 2012-2012, WoS, vol , pp 3105-3110
DOI: 10.1109/iros.2012.6385990
Summary
In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.