VISUAL CONTROL OF ROBOT MANIPULATORS – A REVIEW

Abstract

This paper attempts to present a comprehensive summary of research results in the use of visual information to control robot manipulators and related mechanisms. An extensive bibliography is provided which also includes important papers from the elemental disciplines upon which visual servoing is based. The research results are discussed in terms of historical context, commonality of function, algorithmic approach and method of implementation. 1 Introduction This paper presents the history, and reviews current research into the use of visual information for the control of robot manipulators and mechanisms. Visual control of manipulators promises substantial advantages when working with targets whose position is unknown, or with manipulators which may be flexible or inaccurate. The reported use of visual information to guide robots, or more generally mechanisms, is quite extensive and encompasses manufacturing applications, teleoperation, missile tracking cameras, fruit picking as well...