In this paper, we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. Through a coordinate transformation and a passive interconnection between mechanical system and camera dynamics we realize a closed-loop system that is port-Hamiltonian. The resulting control strategy depends only on the camera states and it can be proven that the closed-loop system is also asymptotically stable. Furthermore, a region of attraction is defined for which asymptotic stability holds.
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