Control II: Dynamic visual servoing for surgical robotic
Visual servoing is the control of an actuated mechanical structure using visual feedback. A distinction is made between kinematic and dynamic visual servoing. The first approach uses some assumptions that hold only for slow motions. Its main advantage is simplicity. Dynamic visual servoing relies on a more complex model of the visual loop including all the dynamic effects (manipulator and vision system). The better the accuracy of the model, the larger the bandwidth of the visual loop. In this lecture, the basic notions used in visual sevoing will be introduced. Then, a more detailed explanation on the differences between kinematic and dynamic visual servoing will be given. Finally, the focus will be put on dynamic visual servoing and some examples of control schemes used in surgical robotics applications will be discussed.