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.
https://hal.inria.fr/inria-00352152
Contributeur : Eric Marchand
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Soumis le : lundi 12 janvier 2009 - 14:57:20
Dernière modification le : mercredi 16 mai 2018 - 11:23:06
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:41:37
François Chaumette, E. Marchand. A new redundancy-based iterative scheme for avoiding joint limits: application to visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, United States. 2, pp.1720-1725, 2000. 〈inria-00352152〉
