Skip to Main content Skip to Navigation
Journal articles

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

François Chaumette 1 E. Marchand 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : 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.
Mots-clés : Asservissement robotique
Document type :
Journal articles
Complete list of metadatas

Cited literature [12 references]  Display  Hide  Download

https://hal.inria.fr/inria-00352118
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 2:45:49 PM
Last modification on : Friday, November 16, 2018 - 1:30:51 AM
Document(s) archivé(s) le : Tuesday, June 8, 2010 - 7:38:13 PM

File

2001_itra_chaumette.pdf
Publisher files allowed on an open archive

Identifiers

  • HAL Id : inria-00352118, version 1

Citation

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

Share

Metrics

Record views

439

Files downloads

425