Reasons for singularity in robot teleoperation

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Abstrakt

In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.

OriginalsprogEngelsk
TitelHRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Antal sider2
ForlagIEEE Press
Publikationsdato2014
Sider242-243
ISBN (Trykt)978-1-4503-2658-2
DOI
StatusUdgivet - 2014
Begivenhed2014 ACM/IEEE International Conference on Human Robot Interaction - Bielefeld, Tyskland
Varighed: 3. mar. 20146. mar. 2014

Konference

Konference2014 ACM/IEEE International Conference on Human Robot Interaction
LandTyskland
ByBielefeld
Periode03/03/201406/03/2014

Bibliografisk note

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