Manipulability servoing control in null space for redundant bilateral control system with different degrees of freedom

This paper proposes a manipulability servoing control method in null space for redundant bilateral control system with different degrees of freedom (DOF). In the redundant bilateral system, the error of manipulability in work space is arised by different DOF between master and slave systems. As a result, it is difficult to achieve the precise motion control. In order to solve this problem, a bilateral control method based on null space with the manipulability measure is proposed. This paper verifies the effectiveness of the proposed method by simulation and experimental results.