Improving the Manipulability of a Redundant Arm Using Decoupled Hybrid Visual Servoing
This study proposes a hybrid visual servoing technique that is optimised to tackle the shortcomings of classical 2D, 3D and hybrid visual servoing approaches. These shortcomings are mostly the convergence issues, image and robot singularities, and unreachable trajectories for the robot. To address t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-12-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/23/11566 |