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Improving the manipulability of a redundant arm using Decoupled Hybrid Visual Servoing

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posted on 2021-11-18, 11:34 authored by Alireza RastegarpanahAlireza Rastegarpanah, Ali AflakianAli Aflakian, Rustam Stolkin
A supplementary document to elaborate further on the developed method in the follwoing article "Improving the manipulability of a redundant arm using Decoupled Hybrid Visual Servoing".

Funding

grant number FIRG005

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    Keywords

    Hybrid Visual ServoingOptimized trajectoryManipulabilityTask priorityDecoupled Image JacobianControl Systems, Robotics and AutomationManufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)

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    CC BY 4.0

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