2009
DOI: 10.1002/ecj.10091
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Passivity‐based control on dynamic visual feedback systems with movable camera configuration

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 th… Show more

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Cited by 9 publications
(18 citation statements)
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“…Finally simulation results are shown to verify the stability and the performance of the proposed control law. The proposed control method which poses no problem with respect to real-time computing can be carried on in the experimental testbed, similar to [4] [12].…”
Section: Discussionmentioning
confidence: 99%
See 3 more Smart Citations
“…Finally simulation results are shown to verify the stability and the performance of the proposed control law. The proposed control method which poses no problem with respect to real-time computing can be carried on in the experimental testbed, similar to [4] [12].…”
Section: Discussionmentioning
confidence: 99%
“…For the visual feedback system, it is difficult that the desired trajectory in joint space is given explicitly, since the motion of the target object is unknown. Although the synchronization error is defined in the joint space in the previous works [6]- [10], we define it in the work space by making the reference manipulator and the reference target objects as shown in Fig 2. Additionally, L 2 -gain performance analysis for the synchronized visual feedback system (19) can be considered based on the dissipative systems theory in the presence of disturbances, similar to our previous works [4][12] [13].…”
Section: Stability Analysis For Synchronized Visual Feedback Systemmentioning
confidence: 99%
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“…Therefore, using a first order Ta ylor expansion approximation, the estimation error vector ee can be obtained from image information feo and the estimated value of the relative pose !Jeo as follows: (6) where f eo is the estimated value of image feature and Je(!Jeo)…”
Section: B Estimation Error Systemmentioning
confidence: 99%