Collision-free visual servoing of an eye-in-hand manipulator via constraint-aware planning and control.
Ambrose ChanSimon LéonardElizabeth A. CroftJames J. LittlePublished in: ACC (2011)
Keyphrases
- robotic arm
- visual servoing
- collision free paths
- collision free
- mobile robot
- motion planning
- vision system
- end effector
- path planning
- degrees of freedom
- robotic manipulator
- image based visual servoing
- control law
- trajectory tracking
- robot control
- image space
- dynamic environments
- camera motion
- visual feedback
- collision avoidance
- path planner
- inverse kinematics
- real time
- multi robot
- optimal path
- robotic systems
- humanoid robot
- pose estimation
- physical constraints
- model free
- dynamic programming
- control system
- high dimensional