Éric Marchand, François Chaumette, Alessandro Rizzo. Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 1996, November 4-8, 1996, Osaka, Japan. pages 1083-1090, IEEE, 1996. [doi]
Abstract is missing.