Haptic feedback of kinematic conditioning for telerobotic applications

Kinematic conditioning of robot manipulators is the problem where small motions in Cartesian space cause excessive joint velocities. This problem is signi cant in teleoperation. Haptic feedback provides the bi-directional ow of information which allows the operator to control the telerobot interactively. Haptic feedback of kinematic conditioning is proposed as a new approach to achieve better performance in telerobotic control near kinematic singularities. Three different singularity force feedback methods are de ned and studied. Experimental results with a force feedback master and simulated slave system show that teleoperation performance near singular con gurations was a ected and improved by using singularity force feedback.