Abstract—In this paper, we present a new solution to laparoscopic manipulation based on forcefeedback control. This method allows us to both explicitely control the forces applie...
Alexandre Krupa, Guillaume Morel, Michel de Mathel...
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 main goal of this paper is the study of image-based stereo visual servoing. A pair of cameras is mounted on the end-effector of the manipulator arm. The visual features are t...
— Visual servoing schemes generally employ various image features (points, lines, moments etc.) in their control formulation. This paper presents a novel method for using boundar...