Hamiltonian-based binocular visual servoing of camera-in-hand robotic systems

An image-based strategy visual servo control via Hamiltonian approach for a binocular camera-in-hand robotic system is considered. A new Hamiltonian realization is designed for the visual servo control systems which consider the dynamics of the robotic systems. The designed system can be modeled as a port-controlled Hamiltonian (PCH) system. We give the stability analysis about the PCH system. Simulation experiments illustrate the theory and show the effectiveness of the proposed designs.