An experimental study of dynamic visual feedback control with a fixed camera

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

    研究成果: Conference contribution

    4 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings of the SICE Annual Conference
    ページ2199-2204
    ページ数6
    出版ステータスPublished - 2004
    イベントSICE Annual Conference 2004 - Sapporo
    継続期間: 2004 8 42004 8 6

    Other

    OtherSICE Annual Conference 2004
    CitySapporo
    Period04/8/404/8/6

    ASJC Scopus subject areas

    • Engineering(all)

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