Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
712025 | IFAC-PapersOnLine | 2015 | 6 Pages |
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.
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Computational Mechanics