A method to solve inverse kinematics of redundant slave arm in the master-slave system with different degrees of freedom

14th International Symposium on Measurement and Control in Robotics 2004, ISMCR 2004

Volumn , Issue , 2004, Pages 9-12

  Nakagawara, Shuhei ^a   Tadakuma, Riichiro ^a   Kajimoto, Hiroyuki ^a   Kawakami, Naoki ^a   Tachi, Susumu ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

INVERSE KINEMATICS; MANIPULATORS; MECHANICS; ROBOTICS;

ACCELERATION SENSORS; MASTER-SLAVE MANIPULATOR; MASTER-SLAVE SYSTEMS; OPERATIONAL PERFORMANCE; SLAVE MANIPULATORS;

DEGREES OF FREEDOM (MECHANICS);

EID: 84924364105     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (4)

1. R.Tadakuma, Y.Asahara, I.Kawabuchi, H.Kajimoto, N.Kawakami, and S.Tachi: "Development of an Exoskeletontype 6-DOF Master Arm for Telexistence," International Symposium on Robotics (ISR2004), TU33-3, 2004.
2. Y.Inoue, S.Tachi, and H.Arai: "A Method of Impedance Control of a Master-slave Manipulator System," Journal of the Robotics Society of Japan, Vol.10, No.4, pp.480-488, 1992 (Japanese).
3. H.Hasunuma, H.Kagaya, M.Takatori, J.Fujimori, F.Mifune, S.Shikoda, M.Kobayashi, T.Itoko, and S.Tachi: "Development of Teleoperation Master System with Kinesthetic Sensation of Presence," Proc. International Conference on Artificial Reality and Telexistence (ICAT1999), pp.53-59, 1999.
4. D.Tolani, T.Goswami, and I.Badler: "Real-time Inverse Kinematics Techniques for Anthromorphic Limbs," Graphical Models, Vol.62, pp.353-388, 200