Enhancing the Autonomy of Teleoperated Redundant Manipulators Through Fusion of Intelligent Control Modules

  title={Enhancing the Autonomy of Teleoperated Redundant Manipulators Through Fusion of Intelligent Control Modules},
  author={D. P. Thrishantha Nanayakkara and Kazuo Kiguchi and Tsukasa Murakami and Keigo Watanabe and Kiyotaka Izumi},
  journal={J. Robotics Mechatronics},
This paper presents a method for redundancy resolution of an industrial manipulator in a teleoperated force control task A seven degree-of-freedom (DOF) industrial manipulator manufactured by the Mit-subishi Heavy Industries Ltd. is used for experiments. The task involves obeying a force command sent from a remote computer while autonomously adapting the posture to avoid unexpected obstacles moving toward the manipulator. Redundancy resolution is employed for autonomous adaptation of the… 
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