---
publication_id: "OT-2026-000002397"
title: "Camera and end-effector planning for visual servoing"
published_at: "2026-09-15T19:12:43.593635Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002397"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1666"
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j9/16"
  - "b25j9/1664"
  - "b25j9/1664"
---

# Camera and end-effector planning for visual servoing

## Abstract

Various aspects of techniques, systems, and use cases may be used for camera and end-effector planning for visual servoing for example in redundant manipulators. A technique may include generating a set of paths of an end effector of a robotic arm, and ranking the set of paths using an objective function that results in an improvement to a distance between the end effector and a target while maintaining a collision mitigation path for the end effector and minimizing occlusion of a camera affixed to a joint of the robotic arm. The technique may include converting a path of the set of paths into a trajectory based on the ranking, and outputting the trajectory for controlling the robotic arm to move the end effector.