Introduction

Abstract

Recent research in the field of robotics aims to use auxiliary sensors to help improve the robustness, flexibility and accuracy of the controlled system. The information obtained from the sensors is used as feedback in the system control loop. In the past years, manifold types of sensors have been developed to perform specific tasks, while varying in their features and operation design. The commonly used sensors in robotics are: force sensors, torque sensors, ultrasound sensors and visual sensors. Of all the types of sensors, the visual sensor provides the most complete information that can be used in the control loop. By using this type of sensor, the robot can interact with the working environment without coming into contact with it. The use of visual features extracted from images acquired with the help of the visual sensor to close the feedback loop is a viable method to control robot movements and is known as visual servoing.