Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration

Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

研究成果: Conference contribution

1 引用 (Scopus)

抄録

This paper investigates visual force feedback control for planar manipulators with the eye-in-hand configuration based on passivity. The vision/force control is applied to horizontal/vertical direction for the environment which is thought as a frictionless, elastically compliant plane. We show passivity of the visual force feedback system which allows us to prove stability in the sense of Lyapunov. The L2-gain performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory. Finally simulation results are shown to verify the stability and L2-gain performance of the visual force feedback system.

元の言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
ページ1480-1485
ページ数6
DOI
出版物ステータスPublished - 2007
イベント16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control -
継続期間: 2007 10 12007 10 3

Other

Other16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
期間07/10/107/10/3

Fingerprint

Force control
Feedback control
Manipulators
Feedback
System theory

ASJC Scopus subject areas

  • Engineering(all)

これを引用

Kawai, H., Murao, T., & Fujita, M. (2007). Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration. : Proceedings of the IEEE International Conference on Control Applications (pp. 1480-1485). [4389445] https://doi.org/10.1109/CCA.2007.4389445

Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration. / Kawai, Hiroyuki; Murao, Toshiyuki; Fujita, Masayuki.

Proceedings of the IEEE International Conference on Control Applications. 2007. p. 1480-1485 4389445.

研究成果: Conference contribution

Kawai, H, Murao, T & Fujita, M 2007, Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration. : Proceedings of the IEEE International Conference on Control Applications., 4389445, pp. 1480-1485, 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control, 07/10/1. https://doi.org/10.1109/CCA.2007.4389445
Kawai H, Murao T, Fujita M. Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration. : Proceedings of the IEEE International Conference on Control Applications. 2007. p. 1480-1485. 4389445 https://doi.org/10.1109/CCA.2007.4389445
Kawai, Hiroyuki ; Murao, Toshiyuki ; Fujita, Masayuki. / Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration. Proceedings of the IEEE International Conference on Control Applications. 2007. pp. 1480-1485
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