Singularity-Consistent Behavior of Telerobots: Theory and Experiments

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Abstract
In this paper, the authors develop a method for singularity- consistent teleoperation of nonredundant slave arms under a Cartesian-space velocity control mode. The theoretical base is a parameterized autonomous system, which is obtained through a virtual instantaneous closure of the kinematic chain. The au thors discuss several implementation issues, among them the need of shared control at certain singularities. Results from an experi mental study are also provided.