A Hands-on Tutorial for Implementing Eye-in-hand Visual Servoing in Robot Applications

Károly, Ármin and Galambos, Péter (2023) A Hands-on Tutorial for Implementing Eye-in-hand Visual Servoing in Robot Applications. In: SISY 2023 IEEE 21st International Symposium on Intelligent Systems and Informatics. IEEE Hungary Section, Budapest, pp. 613-618. ISBN 9798350343366

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Abstract

In this tutorial paper, we aim to provide a comprehensive and replicable example of implementing imagebased visual servoing within the realm of robotic manipulation. Our primary objective is to furnish concise yet robust learning resources, including practical ROS-based source code, to assist those pursuing robotic manipulation projects that leverage the advantages of motion coordination using geometric information derived from image processing. Image-based visual servoing, a technique recognized and employed in numerous applications, often lacks in-depth, instructive tutorials elucidating both its theoretical underpinnings and practical applications, complete with step-by-step instructions and source code. Consequently, we tailor our paper towards students, engineers, researchers, and educators seeking to utilize holistic learning materials in this field.

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