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Operation of Redundant Telemanipulators

E. Dupuis, V. Hayward, E. G. Papadopoulos

Redundant manipulators are increasingly used for their greater capabilities but entail greater complexity in their control since the end effector trajectory must be controlled together with their self motions. In direct teleoperation an operator cannot control simultaneously all the degrees of freedom. The traditional approach is to solve a redundancy resolution problem autonomously. This approach is not suitable for applications such as space robotics or other unstructured environments due to the multiplicity of constraints. A generalized framework for the operation of manipulators with more degrees of freedom than an operator can control simultaneously is being developed.
 


Annual Report

Fri Nov 26 23:00:32 GMT 1999