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
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;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
