%0 Journal Article 
%F Chaumette01c
%A Chaumette, F.
%A Marchand, E.
%T A Redundancy-based Iterative Approach for Avoiding Joint Limits: Application to Visual Servoing
%J IEEE Trans. on Robotics and Automation
%V 	 17
%N 5
%P 719-730
%X We propose in this paper 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. We demonstrate the validity of the approach on various real experiments as well as on the control of a virtual humanoid
%U http://www.irisa.fr/vista/Papers/2001/IEEE_TRA_chaumette_marchand.pdf
%8 October
%D 2001