DocumentCode
1688739
Title
A redundancy based control law for executing a coordinated vision-based task using a dual arm robotic system
Author
Fleurmond, Renliw ; Cadenat, Viviane
Author_Institution
LAAS, Toulouse, France
fYear
2015
Firstpage
1
Lastpage
6
Abstract
This paper deals with the problem of coordinating a dual arm robot equipped with several cameras. Our goal is to use the redundancy formalism to realize a real coordination of the two arms with an image based control, while satisfying additional constraints such as avoidance of the joint limits and occlusions. Simulation results validate our approach.
Keywords
cameras; dexterous manipulators; redundancy; robot vision; cameras; coordinated vision-based task; dual arm robotic system; image based control; redundancy based control law; redundancy formalism; Cameras; Joints; Redundancy; Robot kinematics; Robot vision systems; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM), 2015 IEEE International Workshop of
Conference_Location
Liberec
Print_ISBN
978-1-4799-6970-8
Type
conf
DOI
10.1109/ECMSM.2015.7208681
Filename
7208681
Link To Document