A port-Hamiltonian approach to visual servo control of a pick and place system

Author

Dirksz, Daniel A. ; Scherpen, Jacquelien M. A.

Author_Institution

Fac. of Mech. Eng., Control Syst. Technol., Eindhoven Univ. of Technol., Eindhoven, Netherlands

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

5661

Lastpage

5666

Abstract

In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. We realize a closed-loop system, including the nonlinear camera dynamics, which is port-Hamiltonian. Although the closed-loop system is nonlinear, the resulting controller is a PD-type controller which only requires the camera states. From the passivity property of port-Hamiltonian systems we then derive conditions for exponential stability of the closed-loop system, which are used to tune the PD controller gains.

Keywords

PD control; asymptotic stability; cameras; closed loop systems; image processing; nonlinear dynamical systems; robot vision; visual servoing; PD controller gain; PD-type controller; camera states; closed-loop system; exponential stability; image-based visual servo control; nonlinear camera dynamics; passivity property; pick and place system; port-Hamiltonian approach; port-Hamiltonian system; Cameras; Closed loop systems; Damping; Grippers; Servosystems; Uncertainty; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426422

Filename

6426422