Passivity-based dynamic visual feedback control of manipulators with kinematic redundancy

Abstract

In this paper a passivity-based dynamic visual feedback control system, based on extended task space formulation, is addressed to control the kinematically redundant manipulator. Specifically, we consider the target tracking problem of dynamic visual feedback systems in the 3D-workspace. Firstly the brief summary of the visual feedback system is given with the fundamental representation of a relative rigid body motion. Secondly we derive the passivity of the dynamic visual feedback system by combining the manipulator dynamics (expressed in extended task space) and the visual feedback system. Using the proposed dynamic visual feedback control, one can optimize a performance index while tracking a moving target object. Finally we present simulation results to confirm the effectiveness of the proposed visual feedback control method and to verify the stability of both the end-effector motion and the null-space motion