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dc.contributor.author
Andaluz, Victor H.
dc.contributor.author
Roberti, Flavio
dc.contributor.author
Salinas, Lucio Rafael
dc.contributor.author
Toibero, Juan Marcos
dc.contributor.author
Carelli Albarracin, Ricardo Oscar
dc.date.available
2016-07-22T18:23:18Z
dc.date.issued
2015-02
dc.identifier.citation
Andaluz, Victor H.; Roberti, Flavio; Salinas, Lucio Rafael; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis; Elsevier; Robotics And Autonomous Systems; 66; 2-2015; 64-74
dc.identifier.issn
0921-8890
dc.identifier.uri
http://hdl.handle.net/11336/6633
dc.description.abstract
This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system is used for obstacles avoidance and singular configuration prevention through the system?s manipulability control. The design of the stable control system is based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Finally, simulation and experimental results are reported to verify the stability and L2-gain performance of the dynamic visual feedback system.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Elsevier
dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
dc.subject
Mobile Manipulator
dc.subject
Passivity Based Control
dc.subject
Non-Linear Control
dc.subject
Visual Servoing
dc.subject.classification
Control Automático y Robótica
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2016-07-22T13:44:53Z
dc.journal.volume
66
dc.journal.pagination
64-74
dc.journal.pais
Países Bajos
dc.journal.ciudad
Amsterdam
dc.description.fil
Fil: Andaluz, Victor H.. Universidad Técnica de Ambato; Ecuador
dc.description.fil
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.journal.title
Robotics And Autonomous Systems
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0921889014003066
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1016/j.robot.2014.12.009
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2014.12.009
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