Passivity‐based control on dynamic visual feedback systems with movable camera configuration

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