OPENTECHNICAL PUBLICATION
OT-2026-000002397

Camera and end-effector planning for visual servoing

Published: 2026-09-15T19:12:43.593635Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002397
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000002397
Published 2026-09-15T19:12:43.593635Z
https://opentechnical.org/p/OT-2026-000002397