Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1-11 |
| Number of pages | 11 |
| Journal | Electronics and Communications in Japan |
| Volume | 92 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2009 Jun |
Keywords
- L-Gain Performance Analysis.
- Lyapunov Stability
- Manipulator Dynamics
- Passivity
- Visual Feedback Control
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Computer Networks and Communications
- Physics and Astronomy(all)
- Signal Processing
- Applied Mathematics