An experimental study of dynamic visual feedback control with a fixed camera

Toshiyuki Murao*, Hiroyuki Kawai, Masayuki Fujita

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)


    This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. The model of the visual feedback system with four coordinate frames is established by using the homogeneous representation and the adjoint transformation. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L 2-gain performance analysis are discussed. Finally experimental results on SICE-DD arm are reported to confirm the effectiveness of the visual feedback control law.

    Original languageEnglish
    Title of host publicationProceedings of the SICE Annual Conference
    Number of pages6
    Publication statusPublished - 2004
    EventSICE Annual Conference 2004 - Sapporo
    Duration: 2004 Aug 42004 Aug 6


    OtherSICE Annual Conference 2004


    • L -Gain Performance Analysis
    • Lyapunov Stability
    • Passivity
    • SICE-DD Arm
    • Visual Feedback Control

    ASJC Scopus subject areas

    • Engineering(all)


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