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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, October 2001.

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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


François Chaumette
Éric Marchand

BibTex Reference

   Author = {Chaumette, F. and Marchand, E.},
   Title = {A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing},
   Journal = {IEEE Trans. on Robotics and Automation},
   Volume = {    17},
   Number = {5},
   Pages = {719--730},
   Publisher = {IEEE},
   Month = {October},
   Year = {2001}

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