A redundancy-based iterative approach for avoiding joint limits application to visual servoing.
We propose 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 then present a far more efficient method that relies on the iterative computation of mot...
| Udgivet i: | IEEE Transactions on robotics and automation 17, 5 (2001). |
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| Format: | Article |
| Sprog: | English |
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