Lam Kin Kwan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2005. / Includes bibliographical references (leaves 67-70). / Abstracts in English and Chinese. / Chapter 1. --- Introduction --- p.1 / Chapter 1.1 --- Visual Servoing --- p.1 / Chapter 1.1.1 --- System Architectures --- p.2 / Chapter 1.1.1.1 --- Position-based Visual Servoing --- p.2 / Chapter 1.1.1.2 --- Image-based Visual Servoing --- p.3 / Chapter 1.1.2 --- Camera Configurations --- p.4 / Chapter 1.2 --- Problem Definition --- p.5 / Chapter 1.3 --- Related Work --- p.6 / Chapter 1.4 --- Contribution of This Work --- p.9 / Chapter 1.5 --- Organization of This Thesis --- p.10 / Chapter 2. --- System Modeling --- p.11 / Chapter 2.1 --- Coordinate Frames --- p.11 / Chapter 2.2 --- System Kinematics --- p.13 / Chapter 2.3 --- System Dynamics --- p.14 / Chapter 2.4 --- Camera Model --- p.15 / Chapter 2.4.1 --- Eye-in-hand Configuration --- p.18 / Chapter 2.4.2 --- Eye-and-hand Configuration --- p.21 / Chapter 3. --- Adaptive Visual Servoing Control --- p.24 / Chapter 3.1 --- Controller Design --- p.24 / Chapter 3.2 --- Parameter Estimation --- p.27 / Chapter 3.3 --- Stability Analysis --- p.30 / Chapter 4. --- Experimental Studies --- p.34 / Chapter 4.1 --- Experimental Setup --- p.34 / Chapter 4.1.1 --- Hardware Setup --- p.34 / Chapter 4.1.2 --- Image Pattern Recognition --- p.35 / Chapter 4.1.3 --- Experimental Task --- p.36 / Chapter 4.2 --- Control Performance with Different Proportional Gains and Derivative Gains --- p.39 / Chapter 4.3 --- Control Performance with Different Adaptive Gains --- p.41 / Chapter 4.4 --- Gravity Compensator --- p.50 / Chapter 4.5 --- Control Performance with Previous Image Positions --- p.51 / Chapter 4.6 --- Kinematic Controller --- p.56 / Chapter 5. --- Conclusions --- p.61 / Chapter 5.1 --- Conclusions --- p.61 / Chapter 5.2 --- Future Work --- p.62 / Appendix --- p.63 / Bibliography --- p.67
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_325363 |
| Date | January 2005 |
| Contributors | Lam, Kin Kwan., Chinese University of Hong Kong Graduate School. Division of Automation and Computer-Aided Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, viii, 70 leaves : ill. (some col.) ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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