Passivity-based control of dynamic visual feedback systems with movable camera configuration

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

This paper deals with control of dynamic visual feedback systems with a movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. This system which can be interpreted the dynamic visual feedback system with an eye-in-hand configuration and a fixed camera one as a special case, can enlarge the field of view. Firstly the dynamic visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Secondly we construct the dynamic visual feedback system with a movable camera configuration by combining the camera control error system. Next, we derive the passivity of the dynamic visual feedback system. Based on the passivity, stability and Z2-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results.

Original languageEnglish
JournalIEEJ Transactions on Electronics, Information and Systems
Volume128
Issue number2
DOIs
Publication statusPublished - 2008

Keywords

  • Lyapunov stability
  • Manipulator dynamics
  • Passivity
  • Visual feedback control
  • Z-gain performance analysis

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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