Avoiding robot joint limits and kinematic singularities in visual servoing
نویسندگان
چکیده
Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract We propose in this paper solutions to avoid the joint limits and kinematic singularities in visual servoing. We use a control scheme based on the task function approach. It combines the regulation of the selected vision-based task with the minimization of a secondary cost function, which reeects the manipulability of the robot in the vicinity of joint limits and singularities.
منابع مشابه
Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing
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