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A vision system attached to a manipulator excels at tracing a moving targetobject while effectively handling obstacles, overcoming limitations arisingfrom the camera's confined field of view and occluded line of sight. Meanwhile,the manipulator may encounter certain challenges, including restricted motiondue to kinematic constraints and the risk of colliding with external obstacles.These challenges are typically addressed by assigning multiple task objectivesto the manipulator. However, doing so can cause an increased risk of drivingthe manipulator to its kinematic limits, leading to failures in object trackingor obstacle avoidance. To address this issue, we propose a novel visualtracking control method for a redundant manipulator that takes the kinematicconstraints into account via a reachability measure. Our method employs anoptimization-based controller that considers object tracking, occlusionavoidance, collision avoidance, and the kinematic constraints represented bythe reachability measure. Subsequently, it determines a suitable jointconfiguration through real-time inverse kinematics, accounting for dynamicobstacle avoidance and the continuity of joint configurations. To validate ourapproach, we conducted simulations and hardware experiments involving a movingtarget and dynamic obstacles. The results of our evaluations highlight thesignificance of incorporating the reachability measure.

Obstacle- and Occlusion-Responsive Visual Tracking Control for Redundant Manipulators using Reachability Measure