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This paper investigates passivity based 3D dynamic visual force feedback control for fixed camera 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 paper is to show that the 3D dynamic 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. Finally simulation results on 3 DOF planar manipulator are presented to verify the stability of the 3D dynamic visual force feedback system and understand our proposed method simply.
Date of Conference: 3-5 Sept. 2008