TY - GEN
T1 - An experimental study of dynamic visual feedback control with a fixed camera
AU - Murao, Toshiyuki
AU - Kawai, Hiroyuki
AU - Fujita, Masayuki
PY - 2004
Y1 - 2004
N2 - This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. The model of the visual feedback system with four coordinate frames is established by using the homogeneous representation and the adjoint transformation. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L 2-gain performance analysis are discussed. Finally experimental results on SICE-DD arm are reported to confirm the effectiveness of the visual feedback control law.
AB - This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. The model of the visual feedback system with four coordinate frames is established by using the homogeneous representation and the adjoint transformation. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L 2-gain performance analysis are discussed. Finally experimental results on SICE-DD arm are reported to confirm the effectiveness of the visual feedback control law.
KW - L -Gain Performance Analysis
KW - Lyapunov Stability
KW - Passivity
KW - SICE-DD Arm
KW - Visual Feedback Control
UR - http://www.scopus.com/inward/record.url?scp=12744279564&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=12744279564&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:12744279564
SP - 2199
EP - 2204
BT - Proceedings of the SICE Annual Conference
T2 - SICE Annual Conference 2004
Y2 - 4 August 2004 through 6 August 2004
ER -