A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing

IEEE Transactions on Robotics and Automation

Volumn 17, Issue 5, 2001, Pages 719-730

  Chaumette, F ^a   Marchand Eric ^a  

^a INRIA   (France)

Author keywords

Gradient projection approaches; Iterative approach; Joint limits avoidance; Visual servoing

Indexed keywords

CAMERAS; COLLISION AVOIDANCE; COMPUTATIONAL METHODS; COMPUTER VISION; END EFFECTORS; EQUATIONS OF MOTION; GRADIENT METHODS; ITERATIVE METHODS; LINEAR EQUATIONS; REDUNDANCY; UNIVERSAL JOINTS;

GRADIENT PROJECTION METHOD; JOINT LIMITS AVOIDANCE; VISUAL SERVOING;

MANIPULATORS;

EID: 0035485519     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.964671     Document Type: Article

References (12)

1. A new redundancy-based iterative scheme for avoiding joint limits: Application to visual servoing
2. A weighted least-norm solution based scheme for avoiding joints limits for redundant manipulators
3. Strategies for increasing the tracking region of an eye-in-hand system by singularity and joint limits avoidance
4. Automatic supervisory control of the configuration and behavior of multibody mechanisms
5. Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing
6. A tutorial on visual servo control
7. Visual servoing: Real time control of robot manipulators based on visual sensory feedback
8. A new approach to visual servoing in robotics
9. Visual servoing using image features defined upon geometrical primitives
10. Computer animation: A new application for image-based visual servoing
11. A controller to perform a visually guided tracking task in a cluttered environment