In most papers about IBVS the camera velocity is computed and then used as a pseudo-input for the manipulator. (e.g. this one) Is there any work in which the dynamic Lagrange model $H(q) \ddot q +C(q,\dot q)\dot q+g(q)=\tau$ of the manipulator is taken into consideration in order to compute the torque required to move the joints accordingly?

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    $\begingroup$ When you say, "dynamic Lagrange," do you mean the open-loop dynamics? I'm not sure the Lagrange dynamics apply to a controlled system, especially if you've used a state feedback controller to move the system poles. $\endgroup$
    – Chuck
    Nov 3, 2015 at 2:04
  • $\begingroup$ I am not sure why would you mix dynamics with kinematics. In most cases the torque controller (cascaded with the other 2) is used to seperate you from the dynamics and allow a kinematics based controll (you only care for positions velocities and accelerations, and forget about the forces and torques). From a different point of view, you can find lagrange model that computes the torques for you and add the kinematics on top of that and you are done $\endgroup$
    – 50k4
    Nov 3, 2015 at 8:31
  • $\begingroup$ @Chuck I have added the equation I was refering to. The first step of the control algorithm just computes the velocity the end-effector/camera must have in order for the features to reach their respective targets. But in a real situation it would be best to compute the torque required to move the joints of the manipulator accordingly. $\endgroup$
    – Controller
    Nov 12, 2015 at 7:04
  • $\begingroup$ Isn't that just simply the computed torque method? $\endgroup$ Nov 12, 2015 at 7:44


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