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IROS
2008
IEEE

Redundancy resolution of a 7 DOF haptic interface considering collision and singularity avoidance

10 years 3 months ago
Redundancy resolution of a 7 DOF haptic interface considering collision and singularity avoidance
— This paper presents a new redundancy resolution approach based on the gradient projection method, which allows to avoid man-machine and machine-machine collisions as well as singularities of a redundant haptic interface. On this account cost functions for singularity and collision avoidance are formulated. Hereby the collision avoidance cost function is derived from a kinematic analysis of the human arm. Appropriate weighting factors are used to guarantee a simultaneous optimization of all defined side criteria. The performance of the presented method is analyzed by simulation.
Yuta Komoguchi, Ken'ichi Yano, Angelika Peer, Mart
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Yuta Komoguchi, Ken'ichi Yano, Angelika Peer, Martin Buss
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