DocumentCode :
2541257
Title :
Avoiding joint limits with a low-level fusion scheme
Author :
Kermorgant, Olivier ; Chaumette, François
Author_Institution :
INRIA Rennes-Bretagne Atlantique, Rennes, France
fYear :
2011
fDate :
25-30 Sept. 2011
Firstpage :
768
Lastpage :
773
Abstract :
Joint limits avoidance is a crucial issue in sensor-based control. In this paper we propose an avoidance strategy based on a low-level data fusion. The joint positions of a robot arm are considered as features that are continuously added to the control scheme when they approach the joint limits, and removed when the position is safe. We expose an optimal tuning of the avoidance scheme, ensuring the main task is disturbed as little as possible. We propose additional strategies to solve the particular cases of unsafe desired position and local minima. The control scheme is applied to the avoidance of joint limits while performing visual servoing. Both simulation and experimental results illustrate the validity of our approach.
Keywords :
robots; visual servoing; avoidance strategy; joint limits avoidance; low-level data fusion scheme; optimal tuning; robot arm; sensor-based control; visual servoing; Cameras; Jacobian matrices; Joints; Robot sensing systems; Tuning; Visualization; Joint limits avoidance; multi-sensor; sensor fusion; visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
ISSN :
2153-0858
Print_ISBN :
978-1-61284-454-1
Type :
conf
DOI :
10.1109/IROS.2011.6094451
Filename :
6094451
Link To Document :
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