Abstract In this chapter, a unified passivity-based visual servoing control structure considering a vision system mounted on the robot is presented. This controller is suitable to be applied for robotic arms, mobile robots, as well as mobile manipulators. The proposed control law makes the robot able to perform a moving target tracking in its workspace. Taking advantage of the passivity properties of the control system and considering exact knowledge of the target velocity, the asymptotic convergence of the control errors to zero is proved. Later, a robustness analysis is carried out based on L 2-gain performance, thus proving that control errors are ultimately bounded even when bounded errors exist in the estimation of the target velocity. Both numerical simulation and experimental results illustrate the performance of the algorithm in a robotic manipulator, a mobile robot, and also a mobile manipulator.


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    Titel :

    Unified Passivity-Based Visual Control for Moving Object Tracking


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2019-10-01


    Format / Umfang :

    41 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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