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Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 100))

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Abstract

This paper presents a modular framework for design of image based visual servo control for fully actuated dynamic mechanical systems. The approach taken uses the formalism of port Hamiltonian systems to track energy exchanged between the mechanical system and virtual potentials or Hamiltonians associated with each image feature. Asymptotic stability of the system is guaranteed by injecting damping to the otherwise conservative system. A simple approach based on full state measurement is presented and then extended to deal with unmeasured relative depth of image features.

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Notes

  1. 1.

    In Fig. 1 the arrow on the bond should be a half arrow with the hook on the side of the flow variable. However, I was unable to typeset this effectively, and I have chosen to make all bonds full arrows in this paper to make the notation consistent.

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Acknowledgements

This research was supported by the Australian Research Council through Future Fellowship FT0991771 “Foundations of Vision Based Control of Robotic Vehicles”.

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Authors and Affiliations

  1. Australian National University, ACT, Canberra, 0200, Australia

    Robert Mahony

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  1. Robert Mahony
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Correspondence to Robert Mahony .

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Editors and Affiliations

  1. Robotics and Intelligent Machines, Georgia Institute of Technology College of Computing, Atlanta, Georgia, USA

    Henrik I. Christensen

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

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Mahony, R. (2017). Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_8

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  • DOI: https://doi.org/10.1007/978-3-319-29363-9_8

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29362-2

  • Online ISBN: 978-3-319-29363-9

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