A numerical SC approach for a teleoperated 7-DOF manipulator
A numerical SC approach for a teleoperated 7-DOF manipulator
复制标题
遥控七自由度机械臂的数值 SC 方法
DOI：
10.1109/robot.2001.932686
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
H. Seraji
中科院分区：
文献类型：
--
作者：
Y. Tsumaki;P. Fiorini;G. Chalfant;H. Seraji
为了解决奇点问题，引入了 SC（奇点一致）方法。它在奇点处及其周围实现了非常稳定的控制，具有可行的关节速度，并且末端执行器速度没有方向误差。这种方法非常适合直接手动遥控系统，因为它具有无错误的方向特性。到目前为止，它被应用于非冗余机械臂的远程操作。在本文中，将讨论 7-DOF 机械臂的 SC 方法。为了导出 SC 方法的全部性质，有必要对雅可比行列式的伴随式和行列式进行分析研究。然而，实现这一目标非常困难，因为七自由度机械臂的运动学相当复杂。因此，在这里，我们建立了一种将 SC 方法数值应用于 7 自由度机械臂的方法，而不分析运动学特性。然而，这种方法不能实现 SC 方法的全部属性，但可以实现奇点处及其周围的稳定控制，这是 SC 方法最重要和最需要的属性。此外，如果可以定义雅可比行列式，该方法也可以应用于任何类型的关节机械臂。我们的方法的结果已通过图形模型的实验得到证实。
To tackle the singularity problem, the SC (singularity-consistent) approach was introduced. It achieves very stable control at and around a singularity with feasible joint velocities and no directional error in the end-effector velocity. This approach is very suited for a direct manual teleoperation system because of its errorless character for the direction. Until now, it was applied for the teleoperation of a nonredundant manipulator. In this paper, the SC approach for a 7-DOF manipulator will be addressed. To derive the whole properties of the SC approach, analytical studies for both the adjoint and the determinant of the Jacobian are necessary. However, it is very difficult to realize this goal, since the kinematics of a 7-DOF manipulator is quite complicated. Therefore, here, we establish a method to apply the SC approach to a 7-DOF manipulator numerically without analyzing the kinematic properties. This method, though, cannot realize the whole properties of the SC approach but a stable control at and around the singularities is achieved which is the most important and demanded property of the SC approach. Moreover, this method can also be applied for any type of articulated manipulator if its Jacobian can be defined. The results of our approach have been confirmed by experiments with graphics model.