11/20/2008
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What is visual servoing ?
Visual servo control refers to the use of computer vision data to control
the motion of a robot. The vision data may be acquired from a camera
that is mounted directly on a robot manipulator or on a mobile robot, in
which case motion of the robot induces camera motion, or the camera
can be fixed in the workspace so that it can observe the robot motion
from a stationary configuration. Other configurations can be considered
such as, for instance, several cameras mounted on pan-tilt heads
observing the robot motion.
We will focus primarily on the former, so-
called eye-in-hand case. Visual servo control relies on techniques from
image processing, computer vision, and control theory.
