TY - JOUR
T1 - Passivity-based control on dynamic visual feedback systems with movable camera configuration
AU - Murao, Toshiyuki
AU - Kawai, Hiroyuki
AU - Fujita, Masayuki
PY - 2009/6
Y1 - 2009/6
N2 - This paper deals with control of dynamic visual feedback systems with a movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. This system, which can be interpreted as the dynamic visual feedback system with an eye-in-hand configuration and a fixed camera one as a special case, can enlarge the field of view. First, the dynamic visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Second, we construct the dynamic visual feedback system with a movable camera configuration by combining the camera 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.
AB - This paper deals with control of dynamic visual feedback systems with a movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. This system, which can be interpreted as the dynamic visual feedback system with an eye-in-hand configuration and a fixed camera one as a special case, can enlarge the field of view. First, the dynamic visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Second, we construct the dynamic visual feedback system with a movable camera configuration by combining the camera 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.
KW - L-Gain Performance Analysis.
KW - Lyapunov Stability
KW - Manipulator Dynamics
KW - Passivity
KW - Visual Feedback Control
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U2 - 10.1002/ecj.10091
DO - 10.1002/ecj.10091
M3 - Article
AN - SCOPUS:67650848216
SN - 1942-9533
VL - 92
SP - 1
EP - 11
JO - Electronics and Communications in Japan
JF - Electronics and Communications in Japan
IS - 6
ER -