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

摘要

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 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. Firstly the dynamic visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Secondly 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 L2-gain performance analysis are discussed. Finally the validity of the proposed control law can be confirmed by comparing the experimental results.