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Published in:
2017 | OriginalPaper | Chapter
Vision-Based Control
Author : Peter Corke
Published in: Robotics, Vision and Control
Publisher: Springer International Publishing
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The task in visual servoing is to control the pose of the robot’s end-effector, relative to the goal, using visual features extracted from an image of the goal object. As shown in Fig. 15.1 the camera may be carried by the robot or be fixed in the world. The configuration of Fig. 15.1a has the camera mounted on the robot’s end-effector observing the goal, and is referred to as end-point closedloop or eye-in-hand. The configuration of Fig. 15.1b has the camera at a fixed point in the world observing both the goal and the robot’s end-effector, and is referred to as end-point open-loop. In the remainder of this book we will discuss only the eye-in-hand configuration.