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ICRA
1993
IEEE

Increasing the Tracking Region of an Eye-In-Hand System by Singularity and Joint Limit Avoidance

9 years 6 months ago
Increasing the Tracking Region of an Eye-In-Hand System by Singularity and Joint Limit Avoidance
A new control strategy is presented which 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 have been 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.
Bradley J. Nelson, Pradeep K. Khosla
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1993
Where ICRA
Authors Bradley J. Nelson, Pradeep K. Khosla
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