This paper presents
an attractive position-based visual servoing approach for camera-in-hand robotic systerns.
The major contribution of this work is in devising an
elegant and pragmatic approach for 3D visual tracking, which yielded
good target tracking performance. It differs from the other known
techniques, in its approach for image interpretation and the introduction
of a Smith-like predictor control structure to overcome the inherent
multi-rate time delayed nature of the visual servoing system. A
complete description is made of the proposed MSP-DH visual servoing
system. Experiments on the target tracking performance on XY planar
motion using an AdeptOne robotic system are presented to illustrate
the controller performance. In addition, experimental results have clearly shown
the capability of the MSP-DH visual servoing system in performing
3D-dynamic visual servoing.