An experimental facility for robotic visual servoing

Abstract

Using sensors, a robot can manipulate objects with unknown position and velocity. Recent advances in machine vision raise the possibility of using vision to close a feedback loop around the robot end-effector's position and orientation, an approach known as visual servoing. An experimental facility for research into video-rate robotic visual servoing is discussed. The application of image features to control a robot's planar position with respect to some object is shown.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>