ABSTRACT
SUMMARY This chapter gives a basic treatment of the problem of visual servoing, especially for mobile manipulation systems. It is a mechatronics problem. The chapter presents an overview of visual servo research, kinematic modeling of robotic systems, camera modeling, and controller design for visual servo systems. Two case studies are given. The first case study presents the development and results of traditional image-based visual servoing. The second case study demonstrates a more advanced controller design of image-based visual servoing. Experimental results are presented for both case studies.
