Introduction

This chapter gives a general introduction to the different intelligent control techniques in robotic systems. The relevance of learning based approaches for controlling the redundant manipulators kinematically and dynamically, directly from the vision space, has been discussed. The image-based and position-based visual servoing techniques are also introduced in this chapter. Various research challenges in visual control of redundant manipulators are also discussed in brief. A general introduction to Lyapunov-based stability analysis, Genetic Algorithm-based optimization technique and Gaussian mixture models are also given in this chapter.