Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration

Hiroyuki Kawai; Toshiyuki Murao; Masayuki Fujita

doi:10.1109/CCA.2007.4389445

Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration

Hiroyuki Kawai^*, Toshiyuki Murao, 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

1 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	Proceedings of the IEEE International Conference on Control Applications
ページ	1480-1485
ページ数	6
DOI	https://doi.org/10.1109/CCA.2007.4389445
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

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

ASJC Scopus subject areas

工学（全般）

文献へのアクセス

10.1109/CCA.2007.4389445

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引用スタイル

Kawai, H, Murao, T & Fujita, M 2007, Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration. in Proceedings of the IEEE International Conference on Control Applications., 4389445, pp. 1480-1485, 16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control, 07/10/1. https://doi.org/10.1109/CCA.2007.4389445

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year = "2007",

doi = "10.1109/CCA.2007.4389445",

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AB - 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.

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Passivity-based visual force feedback control for planar manipulators with eye-in-hand configuration

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