Visual Control of Robots: High-Performance Visual Servoing (Robotics and Mechatronics Series, 2)

Visual servoing is a rapidly maturing control approach for robot manipulators. This book addresses the fundamental issues in robotics and computer vision, as well as their fusion into a vision-based robot control system. Previous work in the field is drawn together and presented in a systematic and consistent manner along with an extensive bibliography. The book is concerned particularly with high-performance motion and examines the limiting factors in the robot and vision system as well as their inter-connection. Necessarily the discussion involves developing detailed dynamic models which are used for simulation, to predict results that are obtained experimentally, and to design control systems. Many experimental results that verify the models and the performance of the control systems are included.