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

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2314-2319
Number of pages6
DOIs
Publication statusPublished - 2009
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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