Controlling the trajectory of an effector

A non-transitory computer readable medium storing instructions when executed by a processor, perform a method comprising:

• increasing degrees of freedom in Null space by representing an effector trajectory using a task description disregarding rotation of an effector about a symmetry axis of a target object;
• applying additional control criteria to control the effector trajectory based on the increased degrees of freedom in Null space;
• and
• controlling the effector trajectory based on the task description and the additional control criteria to reach to a target state from a current state.

An actuated camera system comprising:

• a non-transitory computer readable storage medium for storing instructions, when executed by a processor, perform a method comprising:
• increasing degrees of freedom in Null space by representing the effector trajectory in a task description disregarding rotation of the effector about a symmetry axis of a target object,
• applying additional control criteria to control the trajectory based on the increased degrees of freedom in Null space, and
• controlling the effector trajectory based on the task description and the additional control criteria to reach a target state from a current state;
• and
• a camera controlled by the processor.

A method for controlling a trajectory of an effector from a current state to a target state, the effector trajectory calculated by mapping increments from a control parameter space on the configuration space;

• a dimensional difference between the configuration space and the control parameter space leaving redundant degrees of freedom of a Null space, the method comprising:
• increasing degrees of freedom of the Null space of trajectory control by using a task description disregarding rotation of the effector about a symmetry axis of a target object;
• and
• applying, by a processor, additional control criteria to control the trajectory based on the increased degrees of freedom in Null space.

A non-transitory computer readable medium storing instructions for controlling a trajectory of an effector from a current state to a target state, the effector trajectory calculated by mapping increments from a control parameter space on the configuration space;

• a dimensional difference between the configuration space and the control parameter space leaving redundant degrees of freedom of a Null space, the instructions when executed by a processor performing a method comprising:
• increasing degrees of freedom of Null space of an effector trajectory by using a task description disregarding rotation of the effector about a symmetry axis of a target object;
• and
• applying additional control criteria to control the trajectory based on the increased degrees of freedom in Null space.