An experimental study of dynamic visual feedback control on SICE-DD arm

In this paper, we consider the relative rigid body motion control problem with manipulator dynamics using visual information. Firstly the model of the relative rigid body motion and nonlinear observer are described in order to derive the dynamic visual feedback system. Secondly we propose the dynamic visual feedback control law which is based on passivity. Local asymptotic stability of the overall closed-loop system and L/sub 2/-gain performance analysis for the proposed control law are discussed using the energy function. Finally experimental results on SICE-DD arm are reported to confirm the effectiveness of the visual feedback control law.