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A new redundancy-based iterative scheme 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 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
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Conference papers
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https://hal.inria.fr/inria-00352152
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 2:57:20 PM
Last modification on : Friday, November 16, 2018 - 1:30:31 AM
Document(s) archivé(s) le : Tuesday, June 8, 2010 - 7:41:37 PM

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  • HAL Id : inria-00352152, version 1

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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. pp.1720-1725. ⟨inria-00352152⟩

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