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

Hiroyuki Kawai; Toshiyuki Murao; Masayuki Fujita

doi:10.1109/CCA.2007.4389445

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

Hiroyuki Kawai^*, Toshiyuki Murao, Masayuki Fujita

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the IEEE International Conference on Control Applications
Pages	1480-1485
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2007.4389445
Publication status	Published - 2007
Event	16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control - Duration: 2007 Oct 1 → 2007 Oct 3

Other

Other	16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
Period	07/10/1 → 07/10/3

ASJC Scopus subject areas

Engineering(all)

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10.1109/CCA.2007.4389445

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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., 4389445, pp. 1480-1485, 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control, 07/10/1. https://doi.org/10.1109/CCA.2007.4389445

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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.",

author = "Hiroyuki Kawai and Toshiyuki Murao and Masayuki Fujita",

year = "2007",

doi = "10.1109/CCA.2007.4389445",

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N2 - 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.

AB - 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.

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

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