イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2013/09
形態種別	学術雑誌
査読	査読あり
標題	Passivity-Based Visual Feedback Pose Regulation Integrating a Target Motion Model in Three Dimensions
執筆形態	共著(筆頭者)
掲載誌名	SICE Journal of Control, Measurement, and System Integration
掲載区分	国外
出版社・発行元	The Society of Instrument and Control Engineers (SICE)
巻・号・頁	6(5),pp.322-330
総ページ数	9
担当区分	筆頭著者,責任著者
著者・共著者	Tatsuya Ibuki, Takeshi Hatanaka, Masayuki Fujita
概要	This paper investigates passivity-based visual feedback pose regulation whose goal is to control a vision camera pose so that it reaches a desirable configuration relative to a moving target object. For this purpose, we present a novel visual feedback estimation/control structure including a vision-based observer called visual motion observer under the assumption that a pattern of the target motion is available for control. We first focus on the evolution of the orientation part and the resulting estimation/control error system is proved to be passive from the observer/control input to the estimation/control error output. Accordingly, we also prove that the control objective is achieved by just closing the loop based on passivity. Then, we prove convergence of the remaining position part of the error system. We moreover extend the present velocity input to force/torque input taking account of camera robot dynamics.