Skip navigation
Skip navigation

A port-Hamiltonian approach to image-based visual servo control for dynamic systems

Mahony, Robert; Stramigioli, Stefano

Description

This paper introduces a port-Hamiltonian framework for the design of image-based visual servo control for dynamic mechanical systems. The approach taken introduces the concept of an image effort and provides an interpretation of energy exchange between the dynamics of the physical system and virtual potentials or 'image Hamiltonians' posed in the image space. The port-Hamiltonian framework leads to an elegant algorithm to estimate unknown image depth on-line even when the translational velocity...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
URI: http://hdl.handle.net/1885/65211
Source: The International Journal of Robotics Research
DOI: 10.1177/0278364912455074

Download

File Description SizeFormat Image
01_Mahony_A_port-Hamiltonian_approach_to_2012.pdf808.03 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  23 August 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator