Chaumette00a
F. Chaumette, E. Marchand. A new redundancy-based iterative scheme for avoiding joint limits: application to visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'00, Volume 2, Pages 1720-1725, San Francisco, USA, April 2000.
Download [help]
Download paper: Adobe portable document (pdf)
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow
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
Keyword
[ Robotics ]
Contact
Francois Chaumette
Eric Marchand
BibTex Reference
@InProceedings{Chaumette00a,
Author = {Chaumette, F. and Marchand, E.},
Title = {A new redundancy-based iterative scheme for avoiding joint limits: application to visual servoing},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'00},
Volume = { 2},
Pages = {1720--1725},
Address = {San Francisco, USA},
Month = {April},
Year = {2000}
}
EndNote Reference [help]
Get EndNote Reference (.ref)