A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer

  • Hiroyuki Kawai
  • Shintaro Izoe
  • Masayuki Fujita
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 4)


This paper investigates a vision-based robot motion control using position measurements and visual information. Firstly the model of relative rigid body motion (positions and rotations) and the method for estimation of the relative rigid body motion are presented in order to derive the visual feedback system. Secondly we lead a structural passivity-like property of the visual feedback system. Next, we consider the velocity observer and derive the dynamic visual feedback system which contains the manipulator dynamics. Finally the main results with respect to stability and L 2-gain performance analysis for the proposed dynamic visual feedback control are discussed. Our proposed method is based on passivity of the visual feedback system and the manipulator dynamics.


Visual Feedback Manipulator Dynamic Rigid Body Motion Joint Velocity Nonlinear Observer 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Hiroyuki Kawai
    • 1
  • Shintaro Izoe
    • 1
  • Masayuki Fujita
    • 1
  1. 1.Department of Electrical and Electronic EngineeringKanazawa UniversityKanazawaJapan

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