Manipulator control with image-based visual servo

Visual Guided Approach-to-Grasp for Humanoid Robots

“…On the other hand, an eye-in-hand system can possess a higher precision as the camera is mounted on the end-effector of the manipulator and can observe the object more closely. Hashimoto et al (Hashimoto et al, 1991) gave an EIH system for tracking. According to the ways of using visual information, visual control can also be divided into position-based visual servoing (PBVS), image-based visual servoing (IBVS) and hybrid visual servoing (Hutchinson et al, 1996;Malis et al, 1999;Corke & Hutchinson, 2001).…”

Adaptive visual servoing for various kinds of robot systems

“…For vision-based robots, image features on the image planes are primitive descriptions of the environments. In this sense, featurebased visual servoing control is the most fundamental one for the vision-based robots in which image features are controlled to converge to the desired ones, and therefore has been focused by a number of researchers [2][3][4][5][6][7][8][9][10][11][12][13].…”

“…In most of the previous work on visual servoing, they assumed that the system structure and parameters were known [2][3][4][5][6][7], or that the parameters could be identified in an off-line process [14]. Such a controller, however, is not robust for disturbances and changes of the parameters.…”

Visual servoing utilizing zoom mechanism

“…Recently, there have been many studies on visual servoing control schemes utilizing the visual sensors to increase the capability of the robot systems in the dynamic environments(you can find a summary in [1]). In these days, many studies focus on control schemes which make features on the image planes converge to the desired values [2][3][4][5][6][7][8][9].…”