Abstract
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 language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 2199-2204 |
| Number of pages | 6 |
| Publication status | Published - 2004 |
| Event | SICE Annual Conference 2004 - Sapporo Duration: 2004 Aug 4 → 2004 Aug 6 |
Other
| Other | SICE Annual Conference 2004 |
|---|---|
| City | Sapporo |
| Period | 04/8/4 → 04/8/6 |
Keywords
- L -Gain Performance Analysis
- Lyapunov Stability
- Passivity
- SICE-DD Arm
- Visual Feedback Control
ASJC Scopus subject areas
- Engineering(all)