This paper investigates visual force feedback control for planar manipulators with the eye-in-hand configuration based on passivity. The vision/force control is applied to horizontal/vertical direction for the environment which is thought as a frictionless, elastically compliant plane. We show passivity of the visual force feedback system which allows us to prove stability in the sense of Lyapunov. The L2-gain performance analysis for the disturbance attenuation problem is considered via the dissipative systems theory. Finally simulation results are shown to verify the stability and L2-gain performance of the visual force feedback system.
|ホスト出版物のタイトル||Proceedings of the IEEE International Conference on Control Applications|
|出版ステータス||Published - 2007|
|イベント||16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control - |
継続期間: 2007 10月 1 → 2007 10月 3
|Other||16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control|
|Period||07/10/1 → 07/10/3|
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