Architecture for rapid prototyping of visual controllers

In this paper, we present an architecture for rapid prototyping of visual controllers based on standard off-the-shelf hardware and software. The proposed scheme allows control of a wide class of systems including robot manipulators and underactuated systems using a digital camera. The graphical programming environment is based on MatLab/Simulink© which allows us to take advantage of Simulink graphic programming facilities. Experiments are presented to evaluate the proposed architecture.