A tutorial on visual servo control

This article provides a tutorial introduction to visual servo control of robotic manipulators, Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework, We begin 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, We then present a taxonomy of visual servo control systems, The two major classes of systems, position-based and image-based systems, are then discussed in detail, Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking, We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control.