%0 Conference Proceedings
%F Marchand96e
%A Marchand, E.
%A Rizzo, A.
%A Chaumette, F.
%T Avoiding robot joint limits and kinematics singularities in visual servoing
%B IAPR Int. Conf. Pattern Recognition, ICPR'96
%V A
%P 297-301
%C Vienna, Austria
%X 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
%U http://rainbow-doc.irisa.fr/pdf/1996_icpr_marchand.pdf
%U http://doi.org/10.1109/ICPR.1996.546037
%8 August
%D 1996