Predictive visual feedback control with eye-in/to-hand configuration via stabilizing receding horizo

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

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

1 Citation (Scopus)

Abstract

This paper investigates vision based robot control via a receding horizon control strategy for an eye-in/to-hand system, as a predictive visual feedback control. Firstly, the dynamic visual feedback system with the eye-in/to-hand configuration is reconstructed in order to improve the performance of the estimation. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume17
Edition1 PART 1
DOIs
Publication statusPublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul
Duration: 2008 Jul 62008 Jul 11

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CitySeoul
Period08/7/608/7/11

Keywords

  • Information and sensor fusion
  • Intelligent robotics
  • Robots manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Murao, T., Kawai, H., & Fujita, M. (2008). Predictive visual feedback control with eye-in/to-hand configuration via stabilizing receding horizo. In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.1420