Passivity-based control on dynamic visual feedback systems with movable camera configuration

Toshiyuki Murao*, Hiroyuki Kawai, Masayuki Fujita

*この研究の対応する著者

研究成果: Article査読

8 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)1-11
ページ数11
ジャーナルElectronics and Communications in Japan
92
6
DOI
出版ステータスPublished - 2009 6月

ASJC Scopus subject areas

  • 電子工学および電気工学
  • コンピュータ ネットワークおよび通信
  • 物理学および天文学一般
  • 信号処理
  • 応用数学

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