Passivity-based Visual Force Feedback Control for Eye-to-Hand Systems

摘要

This chapter considers 3D visual force feedback control for eye-to-hand systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this chapter is to show that the visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the passivity of the visual feedback system are preserved in