Passivity-based Synchronized Visual Feedback Control for Multi-manipulator System

点击翻译按钮获取中文摘要

This study investigates passivity-based synchronized visual feedback control for an eye-to-hand multi-manipulator system. For a visual feedback system, it is difficult that a desired trajectory in joint space is given explicitly, since motion of a target object is unknown. Although a synchronization error is defined in the joint space in previous works, we define it in work space by making a reference manipulator and reference target objects. Based on passivity and dissipative systems theory, stability and L2-gain performance analysis are discussed. Finally, validity of the proposed control law can be confirmed by simulation results.