A redundancy-based iterative approach for avoiding joint limits: application to visual servoing
- 1 January 2001
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 17 (5), 719-730
- https://doi.org/10.1109/70.964671
Abstract
We propose 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 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.Keywords
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