Modular design of image based visual servo control for dynamic mechanical systems

Abstract

This paper presents a modular framework for design of image based visual servo control for fully actuated dynamic mechanical systems. The approach taken uses the formalism of port Hamiltonian systems to track energy exchanged between the mechanical system and virtual potentials or Hamiltonians associated with each image feature. Asymptotic stability of the system is guaranteed by injecting damping to the otherwise conservative system. A simple approach based on full state measurement is presented and then extended to deal with unmeasured relative depth of image features.