%0 Conference Proceedings
%F Chaumette00a
%A Chaumette, F.
%A Marchand, E.
%T A new redundancy-based iterative scheme for avoiding joint limits: application to visual servoing
%B IEEE Int. Conf. on Robotics and Automation, ICRA'00
%V 	 2
%P 1720-1725
%C San Francisco, USA
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2000_icra_chaumette-1.pdf
%U http://dx.doi.org/10.1109/ROBOT.2000.844844
%8 April
%D 2000
%K  robotics