In these thesis, a visual tracking system for a hand camera robot is investigated. For visual tracking, a concept, called argument image space, is adopted along with the method of the Inverse Jacobian, and a control method that is equivalent to a PD(proportional plus derivation) control is applied for effective tracking.
For implementation of a real time robotics tracking system, a binary image projection processor is designed and is corporated in the vision system, and control method in the augument image space is performed for tracking a moving object.
The Robotics tracking system using a PUMA 560 robot is used to test the performance of the visual tracking technique.