TY - JOUR
T1 - Passivity-based control of dynamic visual feedback systems with movable camera configuration
AU - Murao, Toshiyuki
AU - Kawai, Hiroyuki
AU - Fujita, Masayuki
PY - 2008
Y1 - 2008
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 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. Firstly the dynamic visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Secondly 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 Z2-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 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. Firstly the dynamic visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Secondly 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 Z2-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results.
KW - Lyapunov stability
KW - Manipulator dynamics
KW - Passivity
KW - Visual feedback control
KW - Z-gain performance analysis
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U2 - 10.1541/ieejeiss.128.286
DO - 10.1541/ieejeiss.128.286
M3 - Article
AN - SCOPUS:67651180012
SN - 0385-4221
VL - 128
JO - IEEJ Transactions on Electronics, Information and Systems
JF - IEEJ Transactions on Electronics, Information and Systems
IS - 2
ER -