A redundancy based control law for executing a coordinated vision-based task using a dual arm robotic system
Renliw Fleurmond, V. Cadenat · 2015
This paper deals with the problem of coordinating a dual arm robot equipped with several cameras. Our goal is to use the redundancy formalism to realize a real coordination of the two arms with an image based control, while satisfying additional constraints such as avoidance of the joint limits and occlusions. Simulation results validate our approach.