Passivity-based synchronized visual feedback control for eye-to-hand systems

Toshiyuki Murao; Hiroyuki Kawai; Masayuki Fujita

doi:10.1109/IECON.2009.5415299

Passivity-based synchronized visual feedback control for eye-to-hand systems

Toshiyuki Murao^*, Hiroyuki Kawai, Masayuki Fujita

^*この研究の対応する著者

理工学術院総合研究所

研究成果: Conference contribution

抄録

This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

本文言語	English
ホスト出版物のタイトル	IECON Proceedings (Industrial Electronics Conference)
ページ	2314-2319
ページ数	6
DOI	https://doi.org/10.1109/IECON.2009.5415299
出版ステータス	Published - 2009
イベント	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto 継続期間: 2009 11月 3 → 2009 11月 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

制御およびシステム工学
電子工学および電気工学

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10.1109/IECON.2009.5415299

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AB - This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

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ER -

Passivity-based synchronized visual feedback control for eye-to-hand systems

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