DocumentCode
417085
Title
An experimental study of dynamic visual feedback control on SICE-DD arm
Author
Kawai, Hiroyuki ; Murao, Toshiyuki ; Fujita, Masayuki
Author_Institution
Dept. of Electr. & Electron. Eng., Kanazawa Univ., Japan
Volume
2
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
2211
Abstract
In this paper, we consider the relative rigid body motion control problem with manipulator dynamics using visual information. Firstly the model of the relative rigid body motion and nonlinear observer are described in order to derive the dynamic visual feedback system. Secondly we propose the dynamic visual feedback control law which is based on passivity. Local asymptotic stability of the overall closed-loop system and L/sub 2/-gain performance analysis for the proposed control law are discussed using the energy function. Finally experimental results on SICE-DD arm are reported to confirm the effectiveness of the visual feedback control law.
Keywords
asymptotic stability; closed loop systems; feedback; manipulator dynamics; motion control; observers; L/sub 2/-gain performance analysis; SICE-DD arm; asymptotic stability; closed loop system; dynamic visual feedback control law; dynamic visual feedback system; energy function; manipulator dynamics; nonlinear observer; relative rigid body motion control; visual information;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1324328
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