手持摄像机机器人系统的基于哈密顿的双目视觉伺服

Yang Bo, Hui-Guang Li, X. Jia, Dawei Zhang
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引用次数: 6

摘要

针对手持摄像机机器人系统,研究了一种基于图像的哈密顿函数策略视觉伺服控制。首先,提出了视觉伺服系统的哈密顿实现。针对一种新的双目立体视觉模型,提出了一种基于图像的视觉伺服控制器,避免了深度信息的估计。其次,根据哈密顿实现方法,将视觉伺服系统建模为端口控制哈密顿系统。对PCH系统进行了稳定性分析。最后,给出了仿真结果来说明所提控制器的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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.
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