Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 418 - 423, May, 1993
Abstract
A control strategy is presented that visually tracks objects using a manipulator/camera system while simultaneously avoiding kinematic singularities and joint limits by moving in directions along which the tracking task space is unconstrained or redundant. A manipulability measure is introduced into the visual servoing objective function in order to derive the control law. The algorithms developed are experimentally verified on an eye-in-hand system. Results demonstrate the effectiveness of the method by showing that the tracking region of a manipulator tracking objects with planar motion can be greatly increased.
BibTeX
@conference{Nelson-1993-13493,author = {Bradley Nelson and Pradeep Khosla},
title = {Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1993},
month = {May},
volume = {3},
pages = {418 - 423},
}
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