抄録
This paper deals with the dynamic visual feedback control with a movable camera instead of a fixed camera in the fixed camera configuration. Firstly the brief summary of the visual feedback system with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the new error system in order to consider the camera field of view. Next, we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the 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 simulation results.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| ページ | 439-444 |
| ページ数 | 6 |
| 巻 | 16 |
| 出版ステータス | Published - 2005 |
| イベント | 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague 継続期間: 2005 7月 3 → 2005 7月 8 |
Other
| Other | 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 |
|---|---|
| City | Prague |
| Period | 05/7/3 → 05/7/8 |
ASJC Scopus subject areas
- 制御およびシステム工学