{"title":"手持摄像机机器人系统的基于哈密顿的双目视觉伺服","authors":"Yang Bo, Hui-Guang Li, X. Jia, Dawei Zhang","doi":"10.1109/IECON.2014.7049045","DOIUrl":null,"url":null,"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.","PeriodicalId":166725,"journal":{"name":"2012 Proceedings of International Conference on Modelling, Identification and Control","volume":"79 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Hamiltonian-based binocular visual servoing of camera-in-hand robotic systems\",\"authors\":\"Yang Bo, Hui-Guang Li, X. Jia, Dawei Zhang\",\"doi\":\"10.1109/IECON.2014.7049045\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":166725,\"journal\":{\"name\":\"2012 Proceedings of International Conference on Modelling, Identification and Control\",\"volume\":\"79 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-06-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 Proceedings of International Conference on Modelling, Identification and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IECON.2014.7049045\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 Proceedings of International Conference on Modelling, Identification and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.2014.7049045","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Hamiltonian-based binocular visual servoing of camera-in-hand robotic systems
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.