Visual Control of Robot Manipulators – A Review

Abstract

This paper attempts to present a comprehensive summary of research results in the use of visual information to control robot manipulators and related mechanisms. An extensive bibliography is provided which also includes important papers from the elemental disciplines upon which visual servoing is based. The research results are discussed in terms of historical context, commonality of function, algorithmic approach and method of implementation. @ c x t6 (t) is referred to as the interaction matrix, and + denotes the generalized inverse. As previously it is

A modular system for robust positioning using feedback from stereo vision

“…T HE problem of "visual servoing"-guiding a robot using visual feedback-has been an area of active study for several decades [1]. Over the last several years, a great deal of progress has been made on both theoretical and applied aspects of this problem [2]- [8].…”

Adaptive visual servoing for various kinds of robot systems

“…Many vision researchers have been adopting deliberative approaches to the problem of reconstructing 3-D scene structure from visual information, which are not only very time consuming but also brittle to noise, therefore it seems hard to apply these methods to real robot tasks. Recently, there have been several studies on visual servoing, using visual information in the dynamic feedback loop to increase robustness of the closed loop system [1]. For vision-based robots, image features on the image planes are primitive descriptions of the environments.…”

A hierarchical behavior-based approach to manipulation tasks

“…a camera. These behaviors take as input features in the image space (IS), like the size and position of the target object in the image, and must eventually generate controls in joint space (JS) [3]. In most approaches to visual servoing, the controller either maps the IS directly into the JS (image-based visual servoing), or it maps it to the WS which is then mapped into the JS (position-based visual servoing) -see Fig.…”

“…Depending on the task and on the arm configuration, the design process can be pretty complex, especially when the task requires the use of a visual servoing approach [3]. This contrasts with the dominant design style in the mobile robotics community.…”