E. Marchand, F. Chaumette, A. Rizzo. Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'96, Volume 3, Pages 1083-1090, Osaka, Japan, November 1996.
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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
Éric Marchand 
François Chaumette
@InProceedings{Marchand96f,
Author = {Marchand, E. and Chaumette, F. and Rizzo, A.},
Title = {Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'96},
Volume = { 3},
Pages = {1083--1090},
Address = {Osaka, Japan},
Month = {November},
Year = {1996}
}
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