%0 Conference Proceedings
%F Marchand96f
%A Marchand, E.
%A Chaumette, F.
%A Rizzo, A.
%T Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'96
%V 	 3
%P 1083-1090
%C Osaka, Japan
%X We propose in this paper solutions to avoid robot 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 internal or external singularities. Several methods are proposed to avoid joint limits and a comparison between them is presented. We have demonstrated on various experiments the validity of our approach
%U http://rainbow-doc.irisa.fr/pdf/1996_iros_marchand.pdf
%U http://doi.org/10.1109/IROS.1996.568954
%8 November
%D 1996