A New Binocular Stereo Visual Servoing Model

摘要

In recent years, eye-in-hand robot visual servoing has drawn increasing concern in robot industry. Considering visual servoing system of the eye-in-hand, this paper presents a control theoretic formulation. The new binocular stereo model hasn't depth information. It avoids measuring and estimating the depth of object point, which can improve the control performance. It is the most outstanding advantage that other models donpsilat have. Besides, in this model, we use two-camera vision system to image, which has wider vision field than one CCD vision system. Utilizing this model and only considering kinematics characteristics of the robot, this paper proposes a controller to control the end-effector of the robot. The simulation results have shown the validity of the model.