A tutorial on visual servo control

@article{Hutchinson1996ATO,
  title={A tutorial on visual servo control},
  author={Seth A. Hutchinson and Gregory Hager and Peter Corke},
  journal={IEEE Trans. Robotics Autom.},
  year={1996},
  volume={12},
  pages={651-670},
  url={https://api.semanticscholar.org/CorpusID:1814423}
}
This article provides a tutorial introduction to visual servo control of robotic manipulators by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process.
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96 References

A new approach to visual servoing in robotics

Vision-based control in robotics based on considering a vision system as a specific sensor dedicated to a task and included in a control servo loop is described, and stability and robustness questions arise.

Manipulator control with image-based visual servo

A visual feedback control scheme, called image-based visual servo, is proposed for manipulators with cameras on their hands that is stable even under noisy conditions, while the conventional position-based servo tends to be unstable.

Adaptive robotic visual tracking: theory and experiments

Algorithms are proposed for the solution of the robotic (eye-in-hand configuration) visual tracking and servoing problem and the computational complexity and the experimental results demonstrate that the proposed algorithms can be implemented in real time.

Adaptive Visual Servo Control of Robots

This paper characterises visual servo systems by the feedback representation mode, position-based or image-based, and the joint control mode, closed-loop or open-loop, and discusses the design problems posed by nonlinear and coupling transformations introduced by visual tracking systems.

Visual compliance: task-directed visual servo control

This paper introduces visual compliance, a new vision-based control scheme that lends itself to task-level specification of manipulation goals and derives the hybrid Jacobian matrix that is used to effect visual compliance.

Active, uncalibrated visual servoing

    B. YoshimiP. Allen
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The authors propose a method for visual control of a robotic system which does not require the formulation of an explicit calibration between image space and the world coordinate system and uses an approximation to the image Jacobian to provide smooth, near-continuous control.

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A distinction between visual kinematic and visual dynamic control is introduced, concerned with how the manipulator should move in response to perceived visual features, which is well addressed in the literature.

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