New redundancy-based iterative scheme for avoiding joint limits application to visual servoing

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2000, Pages 1720-1725

  Chaumette, Francois ^a   Marchand, Eric ^a  

^a INRIA   (France)

Author keywords

[No Author keywords available]

Indexed keywords

CLASSICAL GRADIENT PROJECTION APPROACH; JOINT LIMITS; POSITIONING TASKS; REDUNDANCY BASED ITERATIVE SCHEME; TASK FUNCTION APPROACH; VISUAL SERVOING;

COLLISION AVOIDANCE; COMPUTER VISION; ITERATIVE METHODS; MANIPULATORS; MOBILE ROBOTS; POSITION CONTROL; SERVOMECHANISMS;

ROBOTICS;

EID: 0033702460     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

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3. K. Hashimoto. Visual Servoing : Real Time Control of Robot Manipulators Based on Visual Sensory Feedback. World Scientific Series in Robotics and Automated Systems, Vol 7, World Scientific Press, Singapor, 1993.
4. S. Hutchinson, G. Hager, and P. Corke. A tutorial on visual servo control. IEEE Trans. on Robotics and Automation, 12(5):651-670, October 1996.
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6. E. Marchand, E Chaumette, and A. Rizzo. Using the task unction approach to avoid robot joint limits and kinematic singularities in visual servoing. In IEEE/RSJ Int. Conf on Intelligent Robots and Systems, IROS'96, volume 3, pages 1083-1090, Osaka, Japan, November 1996.
7. B. Nelson and P.K. Khosla. Strategies for increasing the tracking region of an eye-in-hand system by singularity and joint limits avoidance. Int. Journal of Robotics Research, 14(3):255-269, June 1995.
8. C. Samson, M. Le Borgne, and B. Espiau. Robot Control: the Task Function Approach. Clarendon Press, Oxford, United Kingdom, 1991.