{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,24]],"date-time":"2025-03-24T06:52:55Z","timestamp":1742799175289,"version":"3.38.0"},"reference-count":34,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1998,6,1]],"date-time":"1998-06-01T00:00:00Z","timestamp":896659200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,6]]},"abstract":"<jats:p> This paper studies the effects of three methods of kinematic redun dancy resolution on teleoperation performance with a redundant slave robot in telemanipulation. First, we derive three kinematic redundancy control modes expressing different trade-offs between kinetic energy, joint usage, and joint-limit avoiding. To validate our algorithms, we perform simulations, autonomous robot tests, and teleoperation experiments. The trade-off between kinetic en ergy and joint-limit index is clearly shown in the autonomous test. For teleoperation, four tasks and seven indices are defined. A three-degrees-of freedom (DOF), pen-based master and a 5-DOF, mini-direct-drive robot are used with position-to-position control in Cartesian space. Tasks are x-, y-, and z-positioning and contact- force control giving 2-DOFkinematic redundancy in the slave robot. Overall, the inertia-weighted pseudo-inverse, proposed by Whitney in 1969, shows best performance, while the least-square mode (us ing no inertial information) shows the worst performance. <\/jats:p>","DOI":"10.1177\/027836499801700601","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"579-597","source":"Crossref","is-referenced-by-count":26,"title":["Teleoperation Performance with a Kinematically Redundant Slave Robot"],"prefix":"10.1177","volume":"17","author":[{"given":"Dal-Yeon","family":"Hwang","sequence":"first","affiliation":[{"name":"LG Production Engineering Research Center Kyunggi-do, Pyungtaek-si Jinwuy-myon 19-1, Korea 451-713"}]},{"given":"Blake","family":"Hannaford","sequence":"additional","affiliation":[{"name":"University of Washington Seattle, Washington 98195-2500, USA"}]}],"member":"179","published-online":{"date-parts":[[1998,6,1]]},"reference":[{"key":"atypb1","first-page":"131","volume":"1","author":"Anderson, R.J., and","year":"1988","journal-title":"Proc. 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