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Published in:
2011 | OriginalPaper | Chapter
Vision-Based Control
Author : Peter Corke
Published in: Robotics, Vision and Control
Publisher: Springer Berlin Heidelberg
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The task in visual servoing is to control the pose of the robot’s end-effector, relative to the target, using visual
features
extracted from the image. As shown in Fig. 15.1 the camera may be carried by the robot or fixed in the world. The configuration of Fig. 15.1a has the camera mounted on the robot’s end-effector observing the target, and is referred to as end-point closed-loop or eye-in-hand. The configuration of Fig. 15.1b has the camera at a fixed point in the world observing both the target 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.