DocumentCode
2309162
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
Volume
1
fYear
1996
fDate
25-29 Aug 1996
Firstpage
297
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Conference_Location
Vienna
ISSN
1051-4651
Print_ISBN
0-8186-7282-X
Type
conf
DOI
10.1109/ICPR.1996.546037
Filename
546037
Link To Document