Authors

Yang Bo, Hui-Guang Li, Xin-Chun Jia, Da-Wei Zhang

Abstract

An image-based strategy visual servo control via Hamiltonian function method for camera-in-hand robotic systems is considered. Firstly, a Hamiltonian realization is proposed for the visual servoing system. We proposed an image based visual servo controller for a new binocular stereo vision model which can avoid estimating depth information. Secondly, in accordance with the Hamiltonian realization method the visual servoing system can be modeled as a port-controlled Hamiltonian (PCH) system. For the PCH system, the stability analysis is given. Finally, simulation results are presented to illustrate the performance of the proposed controller.

Citation

  • Journal: IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
  • Year: 2014
  • Volume:
  • Issue:
  • Pages: 3669–3674
  • Publisher: IEEE
  • DOI: 10.1109/iecon.2014.7049045

BibTeX

@inproceedings{Bo_2014,
  title={{Hamiltonian-based binocular visual servoing of camera-in-hand robotic systems}},
  DOI={10.1109/iecon.2014.7049045},
  booktitle={{IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society}},
  publisher={IEEE},
  author={Bo, Yang and Li, Hui-Guang and Jia, Xin-Chun and Zhang, Da-Wei},
  year={2014},
  pages={3669--3674}
}

Download the bib file

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