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Last download on: Thu Apr 13, 2017 12:56:12 AM
This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinates transformations, velocity representation, and s description of the geometric aspects of the image formation process. We then present a taxonomy of visual servo control systems. The two majors classes of systems, position-based and image-based systems, are the discussed in the detail. Since any visual servo system must be capable of tracking image feature in a sequence images, we also include an overview of feature-based and correlation-based methods for tracking. We conclude the tutorial with a number of observations on the current directions of research field of visual servo motor.
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"Visual Servo Control Tutorial"
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