Title :
A redundancy based control law for executing a coordinated vision-based task using a dual arm robotic system
Author :
Fleurmond, Renliw ; Cadenat, Viviane
Author_Institution :
LAAS, Toulouse, France
Abstract :
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.
Keywords :
cameras; dexterous manipulators; redundancy; robot vision; cameras; coordinated vision-based task; dual arm robotic system; image based control; redundancy based control law; redundancy formalism; Cameras; Joints; Redundancy; Robot kinematics; Robot vision systems; Visualization;
Conference_Titel :
Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM), 2015 IEEE International Workshop of
Conference_Location :
Liberec
Print_ISBN :
978-1-4799-6970-8
DOI :
10.1109/ECMSM.2015.7208681
