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Title
Japanese:対象運動モデルを用いた受動性に基づく視覚フィードバック位置姿勢制御 
English: 
Author
Japanese: 難波結人, 伊吹竜也, 畑中健志, 藤田政之.  
English: Yuto Nanba, Tatsuya Ibuki, Takeshi Hatanaka, Masayuki FUJITA.  
Language Japanese 
Journal/Book name
Japanese:第12回計測自動制御学会制御部門大会予稿集 
English: 
Volume, Number, Page         pp. 97-102
Published date Mar. 15, 2012 
Publisher
Japanese: 
English: 
Conference name
Japanese:計測自動制御学会第12回制御部門大会 
English: 
Conference site
Japanese:奈良 
English: 
Abstract This paper investigates passivity-based visual feedback pose control. The objective here is to control a vision camera pose so that it reaches a desired configuration relative to a target object moving with a constant body velocity. For this purpose, we present a novel visual feedback control structure including a vision-based observer with a 3D target object motion model. The resulting estimation/control error system is proved to be passive from observer/control input to the control/estimation error output. We also prove based on passivity-based control theory that the control objective is achieved by just closing the loop. Finally, the effectiveness of the present control structure is demonstrated through simulation.

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