Stabilizing Predictive Visual Feedback Control for Eye-in-Hand Systems
Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita · 2008
This paper investigates a vision based robot control based on a receding horizon control strategy for eye-in-hand systems, as a stabilizing predictive visual feedback control．Firstly, the brief summary of the three dimensional(3D) visual feedback system with an eye-in-hand configuration is given．Next, a stabilizing receding horizon control for the 3D visual feedback system, a highly nonlinear and relatively fast system, is proposed．The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system．