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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kawai, H. Murao, T. Fujita, M. |
| Copyright Year | 2005 |
| Description | Author affiliation: Inf. Technol. Res. Center, Hosei Univ., Tokyo, Japan (Kawai, H.) |
| Abstract | In this paper, we consider the dynamic visual feedback control with the uncertainty of the camera coordinate frame based on the passivity. Firstly the brief summary of the nominal visual feedback systems with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the visual feedback system with uncertainty which is not be limited to the orientation around the optical axis. Next, we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics and the visual feedback system. Based on the passivity, stability and L/sub 2/-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the simulation results. |
| Sponsorship | American Automatic Control Council |
| Starting Page | 3701 |
| Ending Page | 3706 |
| File Size | 503743 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780390989 |
| ISSN | 07431619 |
| e-ISBN | 0780390997 |
| DOI | 10.1109/ACC.2005.1470550 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2005-06-08 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Feedback control Uncertainty Cameras Optical feedback Manipulator dynamics Robot kinematics Control systems High speed optical techniques Robot vision systems Calibration |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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