An experimental study of dynamic visual feedback control with a fixed camera

This paper deals with the control and the estimation of dynamic visual feedback systems with a fixed camera. The model of the visual feedback system with four coordinate frames is established by using the homogeneous representation and the adjoint transformation. Secondly 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 experimental results on SICE-DD arm are reported to confirm the effectiveness of the visual feedback control law.