%0 Journal Article %F Chaumette01c %A Chaumette, F. %A Marchand, E. %T A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing %J IEEE Trans. on Robotics and Automation %V 17 %N 5 %P 719-730 %I IEEE %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 iterative computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new method in a visual servoing application. We demonstrate the validity of the approach on various real experiments as Well as on the control of a virtual humanoid %U http://rainbow-doc.irisa.fr/pdf/2001_itra_chaumette.pdf %U http://dx.doi.org/10.1109/70.964671 %8 October %D 2001