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A new redundancy-based iterative scheme for avoiding joint limits: application to visual servoing
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 computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new approach in a visual servoing application and we demonstrate on various real experiments the validity of the approach.
Mots-clés :
Asservissement
robotique
https://hal.inria.fr/inria-00352152
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 2:57:20 PM
Last modification on : Friday, July 10, 2020 - 4:09:17 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:41:37 PM
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 2:57:20 PM
Last modification on : Friday, July 10, 2020 - 4:09:17 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:41:37 PM
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2000_icra_chaumette-1.pdf
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