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Avoiding robot joint limits and kinematic singularities in visual servoing

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3 Author(s)
Marchand, E. ; IRISA-INRIA, Rennes I Univ., France ; Rizzo, A. ; Chaumette, F.

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

Published in:

Pattern Recognition, 1996., Proceedings of the 13th International Conference on  (Volume:1 )

Date of Conference:

25-29 Aug 1996