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.
KeywordsImage Plane Optical Flow Camera Motion Image Motion Visual Servo
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