マニピュレータダイナミクスを考慮したオブザーバ型動的視覚フィードバック制御

抄録

This paper considers vision-based motion control with the manipulator dynamics using position measurements and visual information, which we term dynamic visual feedback control. Firstly the visual feedback system of rigid body motion is described in order to derive the dynamic visual feedback system. Secondly we propose a dynamic visual feedback control law which guarantees local asymptotic stability of the overall closed-loop system using a Lyapunov function. L2-gain performance analysis for the proposed control law has been discussed using the energy function which plays the role of a storage function. Next, we show that the control law is based on passivity and the dynamic visual feedback system is constructed from two passive systems. Finally simulation results confirm the effectiveness of the dynamic visual feedback control law.