Visual servoing with exploitation of redundancy: An experimental study

被引：10

作者：

De Luca, Alessandro ^{[1
]}

Ferri, Massimo ^{[1
]}

Oriolo, Giuseppe ^{[1
]}

Giordano, Paolo Robuffo ^{[1
]}

机构：

[1] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00185 Rome, Italy

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543703

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Within the standard IBVS framework for control of generic robotic systems, a suitable exploitation of redundancy w.r.t. the given visual task can significantly improve the overall task execution. Indeed, redundancy can be used to avoid occlusions, joint limits, or to realize tasks that would be ill-conditioned if addressed altogether. In this respect, we propose an experimental evaluation of the performance of two redundancy resolution schemes, namely Task Priority and Task Sequencing, when adopted to realize IBVS tasks on a mobile robot equipped with a pan-tilt camera onboard.

引用

页码：3231 / 3237

页数：7

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