A TUTORIAL ON VISUAL SERVO CONTROL

This article provides a tutorial introduction to visual servo control of robotic manipulators, Since the topic spans many disciplines our go al is limited to providing a basic conceptual framework, We begin by r eviewing the prerequisite topics from robotics and computer vision, in cluding a brief review of coordinate transformations, velocity represe ntation, and a description of the geometric aspects of the image forma tion process, We then present a taxonomy of visual servo control syste ms, The two major classes of systems, position-based and image-based s ystems, are then discussed in detail, Since any visual servo system mu st be capable of tracking image features in a sequence of images, we a lso 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 the research field of visual servo contro l.