Image-based visual servo control using the port-Hamiltonian approach

0Citations
Citations of this article
6Readers
Mendeley users who have this article in their library.

Abstract

This work is devoted to an image-based visual servo control strategy for standard mechanical systems in the port-Hamiltonian framework. We utilize a change of variables that transforms the port-Hamiltonian system into one with constant mass-inertia matrix, and we use an interaction matrix that includes the depth information together with the image features variables of the image plane. We develop a control strategy that renders a closed-loop system that is port-Hamiltonian. The introduced approach is applied to a two degrees of freedom robot arm problem, and simulation results are provided.

Cite

CITATION STYLE

APA

Munoz-Arias, M., Mohamed, I. E. H., & Scherpen, J. M. A. (2015). Image-based visual servo control using the port-Hamiltonian approach. In IFAC-PapersOnLine (Vol. 28, pp. 105–110). https://doi.org/10.1016/j.ifacol.2015.10.222

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free