Design and implementation of control concepts for image-guided object movement [Elektronische Ressource] / von Manusak Janthong

Design and Implementation of Control Concepts for Image-Guided Object Movement Von der Fakultät für Maschinenbau der Gottfried Wilhelm Leibniz Universität Hannover zur Erlangung des akademischen Grades Doktor-Ingenieur genehmigte Dissertation von M.Eng Manusak Janthong geboren am 02.03.1973 in Kanchanaburi, Thailand 2006 1. Referent: Prof. Dr.-Ing. E. Reithmeier 2. Referent: Prof. Dr.-Ing. L. Overmeyer Vorsitz: Prof. Dr.-Ing. G. Poll Tag der Promotion: 17.07.2006 Abstract 3D inverted pendulum at IMR was constructed by [Bro06] in order to study the stabilization with visual feedback for the patient table of the radiotherapy. This research is a further work from [Bro06] so as to implement the various control schemes for controlling 3D inverted pendulum with helping a CMOS camera. In this research the camera calibration, which differs with [Bro06], is used to establish a relationship between 2D image- and 3D world coordinates of the pendulum. The pin-hole model is used to be the camera model. To determinate the unknown parameters of the camera model, the non-linear least squares are used to estimate these parameters.