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.
|Title of host publication||Proceedings IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control, Lyon, France|
|Number of pages||6|
|Publication status||Published - 4-Jul-2015|
|Event|| 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (Lyon, France, 4 – 7 July 2015 - Lyon, France|
Duration: 4-Jul-2015 → 7-Jul-2015
|Conference||5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control (Lyon, France, 4 – 7 July 2015|
|Period||04/07/2015 → 07/07/2015|