Hamiltonian-based binocular visual servoing of camera-in-hand robotic systems

摘要

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.