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Article Dans Une Revue IEEE Transactions on Robotics and Automation Année : 2001

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

Résumé

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.

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Dates et versions

inria-00352118 , version 1 (12-01-2009)

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  • HAL Id : inria-00352118 , version 1

Citer

François Chaumette, E. Marchand. A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing. IEEE Transactions on Robotics and Automation, 2001, 17 (5), pp.719-730. ⟨inria-00352118⟩
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