E. Marchand, A. Rizzo, F. Chaumette. Avoiding robot joint limits and kinematics singularities in visual servoing. In IAPR Int. Conf. Pattern Recognition, ICPR'96, Volume A, Pages 297-301, Vienna, Austria, August 1996.
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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
Éric Marchand 
François Chaumette
@InProceedings{Marchand96e,
Author = {Marchand, E. and Rizzo, A. and Chaumette, F.},
Title = {Avoiding robot joint limits and kinematics singularities in visual servoing},
BookTitle = {IAPR Int. Conf. Pattern Recognition, ICPR'96},
Volume = {A},
Pages = {297--301},
Address = {Vienna, Austria},
Month = {August},
Year = {1996}
}
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