Visual servoing utilizing zoom mechanism

A camera, which is used as an artificial vision in visual servoing control, often has a zoom mechanism. A zoom mechanism cannot realize fast motion while an arm mechanism can, and it has only one degree of freedom. On the other hand the arm mechanism cannot cover wide range of change of images while the zoom mechanism can. In this paper, we propose a complementary visual servoing controller of zoom and arm mechanisms. First we discuss on the condition that camera position and zoom setting are considered as redundant. Then a visual servoing controller is proposed making use of complementary characteristics of the both mechanisms. To show the effectiveness of the proposed controller, experimental results are shown