Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration

Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

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

1 Citation (Scopus)

Abstract

This paper investigates visual force feedback control for planar manipulators with the eye-in-hand configuration based on passivity. The vision/force control is applied to horizontal/vertical direction for the environment which is thought as a frictionless, elastically compliant plane. We show passivity of the visual force feedback system which allows us to prove stability in the sense of Lyapunov. The L2-gain performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory. Finally simulation results are shown to verify the stability and L2-gain performance of the visual force feedback system.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages1480-1485
Number of pages6
DOIs
Publication statusPublished - 2007
Event16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control -
Duration: 2007 Oct 12007 Oct 3

Other

Other16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
Period07/10/107/10/3

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kawai, H., Murao, T., & Fujita, M. (2007). Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration. In Proceedings of the IEEE International Conference on Control Applications (pp. 1480-1485). [4389445] https://doi.org/10.1109/CCA.2007.4389445