Abstract
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.
| Original language | English |
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| Title of host publication | Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 |
| Pages | 5360-5365 |
| Number of pages | 6 |
| Volume | 2005 |
| DOIs | |
| Publication status | Published - 2005 |
| Event | 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville Duration: 2005 Dec 12 → 2005 Dec 15 |
Other
| Other | 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 |
|---|---|
| City | Seville |
| Period | 05/12/12 → 05/12/15 |
ASJC Scopus subject areas
- Engineering(all)