Visual servo control. II. Advanced approaches [Tutorial]

TLDR

This second tutorial in a two‑part series introduces visual servo control, emphasizing its applicability to classical robot arms. The tutorial aims to demonstrate how fusing visual features with data from other sensors at the control level opens new research avenues. It discusses velocity‑based visual servo controllers, the importance of accounting for robot dynamics in high‑speed or nonholonomic tasks, and the selection of visual features from classical cameras or other sensors.

Abstract

This article is the second of a two-part tutorial on visual servo control. In this tutorial, we have only considered velocity controllers. It is convenient for most of classical robot arms. However, the dynamics of the robot must of course be taken into account for high speed task, or when we deal with mobile nonholonomic or underactuated robots. As for the sensor, geometrical features coming from a classical perspective camera is considered. Features related to the image motion or coming from other vision sensors necessitate to revisit the modeling issues to select adequate visual features. Finally, fusing visual features with data coming from other sensors at the level of the control scheme will allow to address new research topics