Passivity-based control of visual feedback systems with dynamic movable camera configuration

Toshiyuki Murao*, Hiroyuki Kawai, Masayuki Fujita

*この研究の対応する著者

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

This paper deals with control of visual feedback systems with a dynamic movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. Firstly the brief summary of the dynamic visual feedback system with an eye-in-hand configuration is given with the fundamental representation of a relative rigid body motion. Secondly we construct the visual feedback system with a dynamic movable camera configuration by combining the hand control error system. Next, we derive the passivity of the dynamic visual feedback system. Based on the passivity, stability and L2-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results.

本文言語English
ホスト出版物のタイトルProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
ページ5360-5365
ページ数6
2005
DOI
出版ステータスPublished - 2005
イベント44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville
継続期間: 2005 12 122005 12 15

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CitySeville
Period05/12/1205/12/15

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Passivity-based control of visual feedback systems with dynamic movable camera configuration」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル