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Conference Papers Year : 2000

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.
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Dates and versions

inria-00352152 , version 1 (12-01-2009)

Identifiers

  • HAL Id : inria-00352152 , version 1

Cite

François Chaumette, E. Marchand. A new redundancy-based iterative scheme for avoiding joint limits: application to visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, United States. pp.1720-1725. ⟨inria-00352152⟩
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