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A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer

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Control Problems in Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 4))

Abstract

This paper investigates a vision-based robot motion control using position measurements and visual information. Firstly the model of relative rigid body motion (positions and rotations) and the method for estimation of the relative rigid body motion are presented in order to derive the visual feedback system. Secondly we lead a structural passivity-like property of the visual feedback system. Next, we consider the velocity observer and derive the dynamic visual feedback system which contains the manipulator dynamics. Finally the main results with respect to stability and L 2-gain performance analysis for the proposed dynamic visual feedback control are discussed. Our proposed method is based on passivity of the visual feedback system and the manipulator dynamics.

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Author information

Authors and Affiliations

  1. Department of Electrical and Electronic Engineering, Kanazawa University, Kodatsuno, Kanazawa, 920-8667, Japan

    Hiroyuki Kawai, Shintaro Izoe & Masayuki Fujita

Authors
  1. Hiroyuki Kawai
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  2. Shintaro Izoe
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  3. Masayuki Fujita
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Editor information

Editors and Affiliations

  1. Centro Interdipartimentale di Ricerca, “Enrico Piaggio”, Università di Pisa, Via Diotisalvi, 2, 56100, Pisa, Italy

    Antonio Bicchi

  2. Dipartimento di Ingegneria dell’Informazione Facoltà di Ingegnerici, Università di Siena, Via Roma, 56, 53100, Siena, Italy

    Domenico Prattichizzo

  3. Centre for Autonomous Systems CVAP/NADA, Kungliga Tekniska Högskolan, 10044, Stockholm, Sweden

    Henrik Iskov Christensen

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© 2003 Springer-Verlag Berlin Heidelberg

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Kawai, H., Izoe, S., Fujita, M. (2003). A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer. In: Bicchi, A., Prattichizzo, D., Christensen, H.I. (eds) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36224-X_13

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  • DOI: https://doi.org/10.1007/3-540-36224-X_13

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00251-2

  • Online ISBN: 978-3-540-36224-1

  • eBook Packages: Springer Book Archive

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