No abstract

No abstract

No abstract

SUMMARYThis 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.

This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with eye-in-hand configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance.