Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


N. Mansard, F. Chaumette. A new redundancy formalism for avoidance in visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'05, Volume 2, Pages 1694-1700, Edmonton, Canada, August 2005.

Download [help]

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2015, Projet Lagadic


The paper presents a new approach to construct a control law that realizes a main task and simultaneously takes supplementary constraints into account. Classically, this is done by using the redundancy formalism. If the main task does not constrain all the motions of the robot, a secondary task can be achieved by using only the remaining degrees of freedom (DOF). We propose a new general method that frees up some of the DOF constrained by the main task in addition of the remaining DOF. The general idea is to enable the motions produced by the secondary control law that help the main task to be completed faster. The main advantage is to enhance the performance of the secondary task by enlarging the number of available DOF. In a formal framework, a projection operator is built which ensures that the secondary control law does not disturb the main task. A control law can be then easily computed from the two tasks considered. Experiments that implement and validate this approach are proposed. The visual servoing framework is used to position a 6-DOF robot while simultaneously avoiding occlusions and joint limits


François Chaumette

BibTex Reference

   Author = {Mansard, N. and Chaumette, F.},
   Title = {A new redundancy formalism for avoidance in visual servoing},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'05},
   Volume = {    2},
   Pages = {1694--1700},
   Address = {Edmonton, Canada},
   Month = {August},
   Year = {2005}

EndNote Reference [help]

Get EndNote Reference (.ref)

| Lagadic | Map | Team | Publications | Demonstrations |
Irisa - Inria - Copyright 2009 © Lagadic Project