Dynamic Visual Servoing with an Uncalibrated Eye-in-hand Camera

Visual servoing is an approach to control motion of a robot manipulator using visual feedback signals from a vision system. Though the first systems date back to the late 1970s and early 1980s, it is not until the middle 1990s that there is a sharp increase in publications and working systems, due to the availability of fast and affordable vision processing systems (Hutchinson et al, 1996). There are many different ways of classifying the reported results: based on number of cameras used, generated motion command (2D, 3D), camera configuration, scene interpretation, underlying vision algorithms. We will touch upon these issues briefly in the following sections.