Wang Hesheng. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2004. / Includes bibliographical references (leaves 70-73). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iv / Contents --- p.v / List of Figures --- p.vii / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Visual Servoing --- p.1 / Chapter 1.1.1 --- Position-based Visual Servoing --- p.4 / Chapter 1.1.2 --- Image-based Visual Servoing --- p.5 / Chapter 1.1.3 --- Camera Configurations --- p.7 / Chapter 1.2 --- Problem Definitions --- p.10 / Chapter 1.3 --- Related Work --- p.11 / Chapter 1.4 --- Contribution of This Work --- p.15 / Chapter 1.5 --- Organization of This Thesis --- p.16 / Chapter 2 --- System Modeling --- p.18 / Chapter 2.1 --- The Coordinates Frames --- p.18 / Chapter 2.2 --- The System Kinematics --- p.20 / Chapter 2.3 --- The System Dynamics --- p.21 / Chapter 2.4 --- The Camera Model --- p.23 / Chapter 2.4.1 --- Eye-in-hand System --- p.28 / Chapter 2.4.2 --- Eye-and-hand System --- p.32 / Chapter 3 --- Adaptive Image-based Visual Servoing --- p.35 / Chapter 3.1 --- Controller Design --- p.35 / Chapter 3.2 --- Estimation of The Parameters --- p.38 / Chapter 3.3 --- Stability Analysis --- p.42 / Chapter 4 --- Simulation --- p.48 / Chapter 4.1 --- Simulation I --- p.49 / Chapter 4.2 --- Simulation II --- p.51 / Chapter 5 --- Experiments --- p.55 / Chapter 6 --- Conclusions --- p.63 / Chapter 6.1 --- Conclusions --- p.63 / Chapter 6.2 --- Feature Work --- p.64 / Appendix --- p.66 / Bibliography --- p.70
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_324864 |
| Date | January 2004 |
| Contributors | Wang, Hesheng, 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, 73 leaves : ill. ; 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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