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Increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance

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2 Author(s)
Nelson, B. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Khosla, P.K.

A control strategy is presented that visually tracks objects using a manipulator/camera system while simultaneously avoiding kinematic singularities and joint limits by moving in directions along which the tracking task space is unconstrained or redundant. A manipulability measure is introduced into the visual servoing objective function in order to derive the control law. The algorithms developed are experimentally verified on an eye-in-hand system. Results demonstrate the effectiveness of the method by showing that the tracking region of a manipulator tracking objects with planar motion can be greatly increased

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993