Title :
Avoiding robot joint limits and kinematic singularities in visual servoing
Author :
Marchand, Éric ; Rizzo, Alessandro ; Chaumette, François
Author_Institution :
IRISA-INRIA, Rennes I Univ., France
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 reflects the manipulability of the robot in the vicinity of joint limits and singularities
Keywords :
Jacobian matrices; manipulator kinematics; minimisation; position control; robot vision; servomechanisms; Jacobian matrix; joint limits; minimization; position control; robot manipulators; secondary cost function; singularities; task function; visual servoing; Cost function; Kinematics; Manipulators; Motion control; Motion planning; Orbital robotics; Robot vision systems; Target tracking; Trajectory; Visual servoing;
Conference_Titel :
Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Conference_Location :
Vienna
Print_ISBN :
0-8186-7282-X
DOI :
10.1109/ICPR.1996.546037
