Passivity-based Visual Force Feedback Control for Planar Manipulators with Eye-in-Hand Configuration

Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita
2007 Control Applications (CCA), Proceedings of the IEEE International Conference on  
This paper investigates visual force feedback control for planar manipulators with the eye-in-hand configuration based on passivity. The vision/force control is applied to horizontal/vertical direction for the environment which is thought as a frictionless, elastically compliant plane. We show passivity of the visual force feedback system which allows us to prove stability in the sense of Lyapunov. The L2-gain performance analysis for the disturbance attenuation problem is considered via the
more » ... nsidered via the dissipative systems theory. Finally simulation results are shown to verify the stability and L2-gain performance of the visual force feedback system.
doi:10.1109/isic.2007.4359794 fatcat:m6ugkttshzb2jgp4adbichrz7y