Singularity avoidance in teleoperation system through force feedback of master device

The singularity problem, which makes the robot arm in poor kinematic condition, is one of the problems to be considered in teleoperation system. Because the master device is controlled on the remote side, the user has to operate the master device depending on the camera screen that attached to the end-effector of the slave robot or fixed to the specific spot to monitor the working environment. It is difficult to understand the condition of slave robot perfectly because the user controls the slave robot by only depending on the limited view of a camera screen. Although the slave robot approaches to the poor kinematic condition such as singularity position, the operator can proceed without recognizing the situation that is far from the operator's intention. In this paper, singularity avoidance of slave robot in teleoperation system is introduced. The system provides helpful information to the operator to feel the singularity information of slave robot that can prevent cases where the results are different from the user's intention in teleoperation system.