Avoiding joint limits with a low-level fusion scheme - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2011

Avoiding joint limits with a low-level fusion scheme


Joint limits avoidance is a crucial issue in sensor- based control. In this paper we propose an avoidance strategy based on a low-level data fusion. The joint positions of a robot arm are considered as features that are continuously added to the control scheme when they approach the joint limits, and removed when the position is safe. We expose an optimal tuning of the avoidance scheme, ensuring the main task is disturbed as little as possible. We propose additional strategies to solve the particular cases of unsafe desired position and local minima. The control scheme is applied to the avoidance of joint limits while performing visual servoing. Both simulation and experimental results illustrate the validity of our approach.


Fichier principal
Vignette du fichier
2011_iros_kermorgant2.pdf (421.32 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-00639684 , version 1 (09-11-2011)


  • HAL Id : hal-00639684 , version 1


Olivier Kermorgant, F. Chaumette. Avoiding joint limits with a low-level fusion scheme. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.768-773. ⟨hal-00639684⟩
206 View
225 Download


Gmail Facebook X LinkedIn More