Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing
Éric Marchand, François Chaumette, Alessandro Rizzo · 2002
We propose in this paper solutions to avoid robot joint limits and kinematic singularities in visual servoing. We use a control scheme based on the task function approach. It combines the regulation of the selected vision based task with the minimization of a secondary cost function, which reflects the manipulability of the robot in the vicinity of internal or external singularities. Several methods are proposed to avoid joint limits and a comparison between them is presented. We have demonstrated on various experiments the validity of our approach.