F. Chaumette, E. Marchand. A Redundancy-based Iterative Approach for Avoiding Joint Limits: Application to Visual Servoing. IEEE Trans. on Robotics and Automation, 17(5):719-730, October 2001.
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We propose in this paper 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 we 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
@article{Chaumette01c,
Author = {Chaumette, F. and Marchand, E.},
Title = {A Redundancy-based Iterative Approach for Avoiding Joint Limits: Application to Visual Servoing},
Journal = {IEEE Trans. on Robotics and Automation},
Volume = { 17},
Number = {5},
Pages = {719--730},
Month = {October},
Year = {2001}
}
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