Passivity-based synchronized visual feedback control for eye-to-hand systems

Toshiyuki Murao; Hiroyuki Kawai; Masayuki Fujita

doi:10.1109/IECON.2009.5415299

Passivity-based synchronized visual feedback control for eye-to-hand systems

Toshiyuki Murao^*, Hiroyuki Kawai, Masayuki Fujita

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Pages	2314-2319
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415299
Publication status	Published - 2009
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2009.5415299

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title = "Passivity-based synchronized visual feedback control for eye-to-hand systems",

abstract = "This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.",

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year = "2009",

doi = "10.1109/IECON.2009.5415299",

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N2 - This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

AB - This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

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ER -

Passivity-based synchronized visual feedback control for eye-to-hand systems

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