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Published in:
2015 | OriginalPaper | Chapter
7. Passivity-Based Visual Feedback Control
Authors : Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong
Published in: Passivity-Based Control and Estimation in Networked Robotics
Publisher: Springer International Publishing
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Abstract
This chapter extends the results of the previous chapter to visual feedback camera control. The kinematic camera control problem is first investigated, and the control objective is proved to be achieved by using passivity. The framework is further extended to dynamic visual feedback control in the eye-in-hand configuration. There, the robot manipulator dynamics, known to be passive, is connected to the present visual feedback system via feedback connection. The preservation property of passivity allows us to analyze the stability and tracking performance of the resultant control system.