A redundancy-based iterative approach for avoiding joint limits

Overview

We proposed a 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 we then present a far more efficient method that relies on the iterative computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new method in a visual servoing application.

Results

These results have been obtained on an Adept Viper robot.

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Reference

• F. Chaumette, E. Marchand. A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing. IEEE Trans. on Robotics and Automation, 17(5):719-730, Octobre 2001.