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

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

Research output: Contribution to journalArticle

8 Citations (Scopus)


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 as 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. First, the dynamic visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Second, 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 L2-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results.

Original languageEnglish
Pages (from-to)1-11
Number of pages11
JournalElectronics and Communications in Japan
Issue number6
Publication statusPublished - 2009 Jun



  • L-Gain Performance Analysis.
  • Lyapunov Stability
  • Manipulator Dynamics
  • Passivity
  • Visual Feedback Control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications
  • Physics and Astronomy(all)
  • Signal Processing
  • Applied Mathematics

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