Date of Original Version

1993

Type

Conference Proceeding

Abstract or Description

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.

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