Structures of visual servos

The paper classifies visual servos and using this classification derives their possible structures. It also analyzes the influence of robot–model calibration and robot–camera calibration on the derived control structures. The systematic derivation of possible structures of visual servos enabled the creation of software patterns within the MRROC++ (Zieliński et al., 2007) [29] robot programming framework facilitating their implementation. Those considerations are preceded by a brief introduction defining the principal concepts used in the paper. The paper is concluded by presenting the use of the derived structures in the experiments with grasping static and tracking moving objects. The paper highlights the advantages and drawbacks of the presented structures.