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A redundancy-based iterative approach for avoiding joint limits: application to visual servoing

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2 Author(s)
Chaumette, F. ; IRISA, Rennes, France ; Marchand, E.

We propose new redundancy-based solutions to avoid robot joint limits of a manipulator. We use a control scheme based on the task function approach. We first recall the classical gradient projection approach and then present a far more efficient method that relies on the iterative computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new method in a visual servoing application. We demonstrate the validity of the approach on various real experiments as well as on the control of a virtual humanoid.

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Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 5 )