Terminal attractors in neural networks
Neural Networks
International Journal of Robotics Research
Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Effect of Camera Calibration Errors on Visual Servoing in Robotics
The 3rd International Symposium on Experimental Robotics III
Explicit Incorporation of 2D Constraints in Vision Based Control of Robot Manipulators
The Sixth International Symposium on Experimental Robotics VI
Image moments: a general and useful set of features for visual servoing
IEEE Transactions on Robotics
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments
International Journal of Robotics Research
A control-based approach to task-constrained motion planning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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We consider the task-oriented modeling of the differential kinematics of nonholonomic mobile manipulators (NMMs). A suitable NMM Jacobian is defined that relates the available input commands to the time derivative of the task variables, and can be used to formulate and solve kinematic control problems. When the NMM is redundant with respect to the given task, we provide an extension of two well-known redundancy resolution methods for fixed-base manipulators (Projected Gradient and Task Priority) and introduce a novel technique (Task Sequencing) aimed at improving performance, e.g., avoiding singularities. The proposed methods are applied then to the specific case of image-based visual servoing, where the NMM image Jacobian combines the interaction matrix and the kinematic model of the mobile manipulator. Comparative numerical results are presented for two case studies.