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

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

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

8 Citations (Scopus)

Abstract

This paper deals with control of visual feedback systems with a dynamic movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. Firstly the brief summary of the dynamic visual feedback system with an eye-in-hand configuration is given with the fundamental representation of a relative rigid body motion. Secondly we construct the visual feedback system with a dynamic movable camera configuration by combining the hand control error system. Next, we derive the passivity of the dynamic visual feedback system. Based on the passivity, stability and L2-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results.

Original languageEnglish
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages5360-5365
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville
Duration: 2005 Dec 122005 Dec 15

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CitySeville
Period05/12/1205/12/15

ASJC Scopus subject areas

  • Engineering(all)

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    Murao, T., Kawai, H., & Fujita, M. (2005). Passivity-based control of visual feedback systems with dynamic movable camera configuration. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (Vol. 2005, pp. 5360-5365). [1583014] https://doi.org/10.1109/CDC.2005.1583014