Abstract
The purpose of this chapter is to introduce to the reader the principles of rigid bodies kinematics. Both 2D and 3D kinematic models are presented and discussed in the context of their applicability and use in closed-loop systems. Integrated models for the study of robotic systems motion and control are given. This chapter lays the foundations for the concept of visual servoing for control, and both basic and advanced methodologies are described hereafter. A discussion on the advantages and disadvantages of each method and potential for success in various applications is given with respect to the state of the art. A commonly encountered example is given to further consolidate the concepts.
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Copot, C., Ionescu, C.M., Muresan, C.I. (2020). Visual Servoing Systems. In: Image-Based and Fractional-Order Control for Mechatronic Systems. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-030-42006-2_2
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DOI: https://doi.org/10.1007/978-3-030-42006-2_2
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Publisher Name: Springer, Cham
Print ISBN: 978-3-030-42005-5
Online ISBN: 978-3-030-42006-2
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