抄録
Robotic systems are practically subject to some physical constraints. In particular, violation of joint limits can deteriorate control performance and lead to breakdown of the system. We have proposed the maximal admission of joint range of motion using redundant degrees-of-freedom for kinematically redundant manipulators. This paper presents its application to image-based visual servoing. The controlled object is an eye-in-hand system, which is composed of a three degrees-of-freedom planar manipulator and a single camera that is mounted on the manipulator's end-effector. The effectiveness of the application is evaluated experimentally.
