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.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
|---|
Loading...