Gradient Projection Methods for Constrained Image-based Visual Servo - Visual Servoing via Advanced Numerical Methods - page 263

projected onto the null space of the primary task to yield motions that will honor the
constraints without interfering with the performance of the primary task. The ap-
proach was tested in simulation for each of the three types of constraints, and found
to perform reasonably well, even though the method is sensitive to the selection of
the parameter that influences the relative weight for velocity components assigned
to the primary and secondary tasks.
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