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Communication Dans Un Congrès Année : 2015

A redundancy based control law for executing a coordinated vision-based task using a dual arm robotic system

Résumé

This paper deals with the problem of coordinating a dual arm robot equipped with several cameras. Our goal is to use the redundancy formalism to realize a real coordination of the two arms with an image based control, while satisfying additional constraints such as avoidance of the joint limits and occlusions. Simulation results validate our approach.
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Dates et versions

hal-01959499 , version 1 (18-12-2018)

Identifiants

  • HAL Id : hal-01959499 , version 1

Citer

Renliw Fleurmond, Viviane Cadenat. A redundancy based control law for executing a coordinated vision-based task using a dual arm robotic system. International Workshop IEEE Electronics, Control, Measurement, Signals and their application to Mechatronics ( ECMSM ), Jun 2015, Liberec, Czech Republic. ⟨hal-01959499⟩
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