Abstract
In our previous work, we have proposed the SC approach based on an augmented Jacobian for a redundant manipulator to tackle the singularity problem. It can handle motions at and around singularities including reconfiguration, but introduces an inner obstacle problem. To handle the problem, the SC approach based on the pseudoinverse Jacobian has been proposed. However, the approach cannot handle the reconfiguration. So these approaches have complementary qualities. In this paper, to achieve a flexible singularity-free telemanipulation system, a novel system combining these approaches is introduced.
