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

Authors

Mauricio Munoz-Arias, Mohamed I. El-Hawwary, Jacquelien M.A. Scherpen

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.

Keywords

Robotics; port-Hamiltonian systems; Vision control; Mechanical systems

Citation

• Journal: IFAC-PapersOnLine
• Year: 2015
• Volume: 48
• Issue: 13
• Pages: 105–110
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2015.10.222
• Note: 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015- Lyon, France, 4–7 July 2015

BibTeX

@article{Munoz_Arias_2015,
  title={{Image-based visual servo control using the port-Hamiltonian approach}},
  volume={48},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2015.10.222},
  number={13},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Munoz-Arias, Mauricio and I. El-Hawwary, Mohamed and Scherpen, Jacquelien M.A.},
  year={2015},
  pages={105--110}
}

Download the bib file

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