An Avoidance Method of Singular Configurations in a Master-Slave System Using Intervening Impedance

It is necessary to naturally avoid singular configurations of each slave robot in order to achieve an ideal telexistence master-slave system. We propose a method for the avoidance of singular configurations by using intervening impedance. In this method, the parameters of the intervening impedance are adjusted by the manipulability ellipsoid. This method is applied to a master-slave robot. As a result, singular configurations are avoided by the proposed method.