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This paper investigates vision-based robot control based on the passivity for the three dimensional target tracking. Firstly, the fundamental representation between the moving target object and the camera is derived from the relation among the three coordinate frames. Next, we consider the observer which is reproduced from the fundamental representation of relative rigid body motion just as Luenberger...
An intelligent motion control system design concept is proposed. The design is intelligent in that the designed system can adapt itself to operational, system itself and/or environmental variations. The key concept is to link system gain tuning with the variations explicitly and quantitatively. The effectiveness of the system is verified by an existing experiment.
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