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Passivity‐based control on dynamic visual feedback systems with movable camera configuration
Author(s) -
Murao Toshiyuki,
Kawai Hiroyuki,
Fujita Masayuki
Publication year - 2009
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.10091
Subject(s) - passivity , control theory (sociology) , computer science , computer vision , artificial intelligence , motion (physics) , representation (politics) , control system , control (management) , engineering , electrical engineering , politics , law , political science
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 L 2 ‐gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results. © 2009 Wiley Periodicals, Inc. Electron Comm Jpn, 92(6): 1–11, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/ecj.10091