受動性に基づく可動カメラ構造の視覚フィードバック制御

概要

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This paper deals with control of visual feedback systems with a movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. This system which can be interpreted the visual feedback system with an eye-in-hand configuration and a fixed camera one as a special case, can enlarge the field of view. Firstly the visual feedback system with an eye-to-hand configuration is given with the fundamental representation of a relative rigid body motion. Next, we construct the visual feedback system with a movable camera configuration by combining the camera control error system. Finally, we derive the passivity of the visual feedback system. Based on the passivity, stability and L2 gain performance analysis are discussed.