We discuss the implementation and experimental verification of two new approaches to control of a nonredundant manipulator at and around singularities. One of the approaches is based on the adjoined matrix of the manipulator Jacobian, while the other one is a null-space based approach. The approaches share a common theoretical base described in our previous work. We focus mainly on several implementation issues and the experimental results obtained from our teleoperation system.
['Yuichi Tsumaki', 'Dragomir N. Nenchev', 'Masaru Uchiyama']
Experimental teleoperation of a nonredundant slave arm at and around singularities