Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance
Bradley J. Nelson
Pradeep Khosla
10.1184/R1/6622505.v1
https://kilthub.cmu.edu/articles/journal_contribution/Increasing_the_Tracking_Region_of_an_Eye-in-Hand_System_by_Singularity_and_Joint_Limit_Avoidance/6622505
<p>A new control strategy is presented which visually tracks objects using a manipulator/camera system while simultaneously avoiding kinematic singularities and joint limits by moving in directions along which the tracking task space is unconstrained or redundant. A manipulability measure is introduced into the visual servoing objective function in order to derive the control law. The algorithms developed have been experimentally verified on an eye-in-hand system. Results demonstrate the effectiveness of the method by showing that the tracking region of a manipulator tracking objects with planar motion can be greatly increased.</p>
1993-01-01 00:00:00
Software Research