Image Based Visual Servo Control of a Revolute-Coordinate (Arm and Elbow) Robot

摘要

A technique of using an image feature vector directly as the feedback control parameters in a robot driving strategy is described. This avoids the calculation of the inverse kinematic relationships involved in robot driving algorithms based on robot vision systems, and so means a massive reduction in computational effort. The technique is applicable irrespective of the type of camera used in the vision system.