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.
|Number of pages||11|
|Journal||Electronics and Communications in Japan|
|Publication status||Published - 2009 Jun|
- L-Gain Performance Analysis.
- Lyapunov Stability
- Manipulator Dynamics
- Visual Feedback Control
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Computer Networks and Communications
- Physics and Astronomy(all)
- Signal Processing
- Applied Mathematics