Optimization design for eye-in-hand robotics Based on A New Binocular Stereo Vision Servoing Model

DOI

10.2991/emeit.2012.118How to use a DOI?

Keywords

eye-in-hand, GMC, optimization controller, Binocular Stereo Vision Servoing Model

Abstract

This paper presents an attractive image-based visual servoing approach for eye-in-hand robotic systems based on new binocular stereo vision servoing model. The major contribution of this work is in devising an optimization controller to control the velocity of the camera and GMC(Generic Model Control) is introduced to confirm the output trajectory of the system. The scheme does not deed to know the geometry model of the system. By selecting proper parameters to adjust transient time, the time for the output to follow prearranged track, is adjusted. Asymptotic convergence of the image errors to zero is proved by Lyapunov theory. Simulation results are presented for 6 DOF eye-in-hand system, which clearly show the validity of the proposed approach.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Mei JIN
AU  - Ju JIN
AU  - Guangpu Hao
PY  - 2012/09
DA  - 2012/09
TI  - Optimization design for eye-in-hand robotics Based on A New Binocular Stereo Vision Servoing Model
BT  - Proceedings of the 2nd International Conference on Electronic & Mechanical Engineering and Information Technology (EMEIT 2012)
PB  - Atlantis Press
SP  - 566
EP  - 569
SN  - 1951-6851
UR  - https://doi.org/10.2991/emeit.2012.118
DO  - 10.2991/emeit.2012.118
ID  - JIN2012/09
ER  -