Title: Control of 3D positioning and modelling for stereo microscopic servoing system based on the Hamiltonian method

Authors: Xiao-peng Sha; Hui-guang Li; Shuai Wang; Guo-you Li

Addresses: Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China ' Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China ' Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China ' Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China

Abstract: In this paper, the global visual servoing micropositioning control method is studied and the imaging model is derived based on the G type stereo light microscope (SLM). The model contains no depth information and the left and right image information is used to obtain the image Jacobian matrix. Considering the dynamic characteristics of microrobot, we design an image-based controller, and then the stereo microscopic visual servoing system is transformed into a Hamiltonian system. It will simplify the stability analysis. The experimental and simulation results based on the four degree-of-freedom (DOF) microrobot system demonstrate the validity of the theory in this paper.

Keywords: microrobotics; visual servoing control; G stereo light microscopy; positioning control; 3D positioning; modelling; stereo microscopic servoing; Hamiltonian method; microrobots; robot control; controller design; robot positioning.

DOI: 10.1504/IJMIC.2014.066263

International Journal of Modelling, Identification and Control, 2014 Vol.22 No.4, pp.318 - 327

Published online: 27 Dec 2014 *

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