Avoiding robot joint limits and kinematic singularities in visual servoing.
Éric MarchandAlessandro RizzoFrançois ChaumettePublished in: ICPR (1996)
Keyphrases
- visual servoing
- parallel robot
- end effector
- mobile robot
- vision system
- joint space
- image based visual servoing
- control law
- robot control
- robotic arm
- camera motion
- robotic manipulator
- degrees of freedom
- joint angles
- robot motion
- image space
- robot arm
- trajectory tracking
- motion planning
- inverse kinematics
- motion control
- optimal control
- visual feedback
- machine learning
- closed loop
- model free
- robotic systems
- high dimensional