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E. Marchand, A. Rizzo, F. Chaumette. Avoiding robot joint limits and kinematics singularities in visual servoing. In IAPR Int. Conf. Pattern Recognition, ICPR'96, Volume A, Pages 297-301, Vienna, Austria, August 1996.

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We propose in this paper solutions to avoid the joint limits and kinematic singularities in visual servoing. We use a control scheme based on the task function approach. It combines the regulation of the selected vision-based task with the minimization of a secondary cost function, which reflects the manipulability of the robot in the vicinity of joint limits and singularities


Eric Marchand
Francois Chaumette

BibTex Reference

   Author = {Marchand, E. and Rizzo, A. and Chaumette, F.},
   Title = {Avoiding robot joint limits and kinematics singularities in visual servoing},
   BookTitle = {IAPR Int. Conf. Pattern Recognition, ICPR'96},
   Volume = {A},
   Pages = {297--301},
   Address = {Vienna, Austria},
   Month = {August},
   Year = {1996}

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