A new redundancy-based iterative scheme for avoiding joint limits: application to visual servoing
Abstract
We propose in this paper new redundancy-based solutions to avoid robot joint limits of a manipulator. We use a control scheme based on the task function approach. We first recall the classical gradient projection approach and we then present a far more efficient method that relies on the computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new approach in a visual servoing application and we demonstrate on various real experiments the validity of the approach.
Domains
Robotics [cs.RO]
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