A review on vision-based control of robot manipulators

摘要

Recent vision-based control algorithms for robot manipulators are reviewed. Vision is essential for robots working in an unstructured environment. There are numerous research results in vision-based control. Thus, the scope of this review is limited to providing a brief description on visual servo schemes for manipulators. First, a control architecture for vision-based control is reviewed and some basic ideas for visual servo control are presented. On the basis of these ideas recent research results, especially robust and globally stable controllers, are discussed in detail.