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• W2295884417 abstract "This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system's manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L 2 -gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L 2 -gain performance of the dynamic visual feedback system. We address the problem of visual control to solve the target tracking problem.We consider both the kinematic and dynamic models in the control system design.The design of the stable control system is based on its passivity properties.A robustness analysis and an L 2 -gain performance analysis are also presented.Simulations and experimental results are shown to verify the system's performance." @default.
• W2295884417 created "2016-06-24" @default.
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• W2295884417 date "2015-04-01" @default.
• W2295884417 modified "2023-09-24" @default.
• W2295884417 title "Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and <mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML altimg=si5.gif display=inline overflow=scroll><mml:msub><mml:mrow><mml:mi>L</mml:mi></mml:mrow><mml:mrow><mml:mn>2</mml:mn></mml:mrow></mml:msub></mml:math>-gain performance analysis" @default.
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• W2295884417 doi "https://doi.org/10.1016/j.robot.2014.12.009" @default.
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