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

摘要

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.