Observer Based Dynamic Visual Feedback Control for Nonlinear Robotics Systems
نویسندگان
چکیده
This paper investigates a robot motion control problem with visual information. Firstly the model of the relativ erigid body motion (positions and rotations) and the method for the estimation of the relative rigid body motion are presented in order to derive the visual feedback system. Secondly we consider the velocit y observer and derive the dynamic visual feedback system which contains the manipulator dynamics. Finally the main result with respect to stability for the proposed dynamic visual feedback control is discussed.
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تاریخ انتشار 2002