Approach movement of redundant manipulator using stereo vision

This paper proposed a visual control method with a relative position measurement model of stereo vision fixed in the work space for the approach movements of 7-DOF redundant manipulator. The relative position between the end-effectors´ endpoint and object will be solved in real-time by the measurement model of stereo vision, then using position-based visual servo method, the endpoint position will be controlled to approach the object until achieve the approach task goal. Meanwhile redundancy resolution formalism of 7-DOF manipulator will be employed to avoid joint limits. Simulation results verified the effectiveness of the proposed methods.