Passivity-based Control of Visual Feedback Systems with Dynamic Movable Camera Configuration

Predictive Visual Feedback Control with Eye-in/to-Hand Configuration via Stabilizing Receding Horizon Approach

“…Then, the control performance of the simple passivity based control scheme and the stabilizing receding horizon control scheme is evaluated through simulation results. The proposed formulation generalizes the results presented in the previous papers (Murao et al [2005]: concerning the eye-in/to-hand configuration) and (Murao et al [2006]: concerning the predictive visual feedback control).…”

“…This section mainly reviews our previous works (Murao et al [2005], Fujita et al [2007]) via the passivity based visual feedback control with the eye-in/to-hand configuration. Additionally, a modified camera control error system and a modified hand one are proposed in order to improve the performance of the estimation from the practical point of view.…”

“…The authors discussed passivity based control in the 3D workspace with an eye-in/to-hand configuration as shown in Fig. 1 (Murao et al [2005]). This configuration consists of a robot manipulator (a work manipulator) and a camera that is attached to the end-effector of another robot manipulator (a camera manipulator).…”

“…It should be noted that this system includes the both dynamic visual feedback systems with the eyein-hand configuration and the eye-to-hand one as the special case. However, while it has to be normally treated both the estimation problem and the control one in a typical position based visual feedback control, the control task has negatively affected the estimation one, in Murao et al [2005]. Moreover, the control law is not based on optimization, the desired control performance cannot be guaranteed explicitly.…”

Robot Teaching and Learning Based on “Adult” and “Child” Robot Concept

“…Some researchers studied the robot teaching problem and their solutions are either eye-to-hand [9] or eye-in-mobile [12]. Precise calibration between a camera and a robot tool is needed to guide the robot to perform assembly tasks, which is difficult to apply and lack of generality.…”