@inproceedings{fa65f2a87da2461685868abc2d3cca45,
title = "Modular design of image based visual servo control for dynamic mechanical systems",
abstract = "This paper presents a modular framework for design of image based visual servo control for fully actuated dynamic mechanical systems. The approach taken uses the formalism of port Hamiltonian systems to track energy exchanged between the mechanical system and virtual potentials or Hamiltonians associated with each image feature. Asymptotic stability of the system is guaranteed by injecting damping to the otherwise conservative system. A simple approach based on full state measurement is presented and then extended to deal with unmeasured relative depth of image features.",
author = "Robert Mahony",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2017.; 15th International Symposium of Robotics Research, 2011 ; Conference date: 09-12-2011 Through 12-12-2011",
year = "2017",
doi = "10.1007/978-3-319-29363-9_8",
language = "English",
isbn = "9783319293622",
series = "Springer Tracts in Advanced Robotics",
publisher = "Springer Verlag",
pages = "129--146",
editor = "Christensen, {Henrik I.} and Oussama Khatib",
booktitle = "Robotics Research - The 15th International Symposium ISRR",
address = "Germany",
}