HAL Id: tel-00589521 https://tel.archives-ouvertes.fr/tel-00589521 Submitted on 29 Apr 2011 HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci- entifc research documents, whether they are pub- lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la difusion de documents scientifques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Contributions to control modeling in visual servoing, task redundancy, and joint limits avoidance. Mohammed Marey To cite this version: Mohammed Marey. Contributions to control modeling in visual servoing, task redundancy, and joint limits avoidance.. Automatic. Université Rennes 1, 2010. English. tel-00589521