Image based visual servoing with kinematic singularity avoidance for mobile manipulator
Jesus Hernandez-Barragan, Carlos Villaseñor, Carlos Lopez-Franco, Nancy Arana-Daniel, Javier Gomez-Avila · 2024
Read Image based visual servoing with kinematic singularity avoidance for mobile manipulator by Jesus Hernandez-Barragan, Carlos Villaseñor, Carlos Lopez-Franco, Nancy Arana-Daniel, Javier Gomez-Avila (2024) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-11623063.txt.
Description
Jesus Hernandez-Barragan and co-authors guide a mobile robot arm by camera view while dodging bad joint poses in 2024, using team framing for the author list. The camera sits in the robot's hand. Control runs on image errors, not on world coordinates. The math behind that control can hit singular poses where motion jams. A damped method softens those jams.
A two tier task scheme adds a second goal: keep the arm nimble. That goal steers the arm away from stiff poses. A gravity term is also built from the image error. Tests in simulation and on a real robot both worked. The platform was a known mobile arm unit.
Catalog record
| CREATOR | Jesus Hernandez-Barragan, Carlos Villaseñor, Carlos Lopez-Franco, Nancy Arana-Daniel, Javier Gomez-Avila |
|---|---|
| YEAR | 2024 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 88 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |