A New Redundancy-Based Iterative Scheme for Avoiding Joint Limits Application to Visual Servoing

We propose in this paper new redundancy-based solutions to avoid robot joint limits of a manipulator. We use a control scheme based on the task function approach. We first recall the classical gradient projection approach and we then present a far more efficient method that relies on the iterative computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new method in a visual servoing application and we demonstrate on various real experiments the validity of the approach.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: François Chaumette, Éric Marchand
• Keywords: Gradient Projection Approach, ICRA 2000, Robot Joint Limits, Robotics, Task Function Approach