視覺伺服在廣泛的應用中都有其優勢，但影像雜訊、攝影機校正誤差、手眼校正誤差皆可能影響其控制性能，且在一般的情況下，視覺迴路的取樣頻率會遠低於控制迴路的取樣頻率，因此如何在不增加硬體成本的情況下，增加視覺伺服控制架構的效率、強健性及響應速度是很重要的研究課題。不過在多數的研究中，皆是討論如何藉由不同的特徵選取方式來取得一性質更良好的交互作用矩陣，或是藉由離線抑或是線上的軌跡規劃以期達到更有效率的控制，僅有少數文獻將機器人的系統動態一併加入考量、補償以改善視覺伺服的控制性能。有鑑於此，本論文將針對動態視覺伺服架構、估測器及控制器進行討論及改良，實驗使用之平台為六軸與二軸機械手臂。

Visual servoing has advantages in a wide range of applications. However, image noise, camera calibration errors, and hand-eye calibration errors can all affect its control performance. In general, the sampling rate of the visual loop will be much lower than the sampling rate of the servo control loop. Therefore, increasing the efficiency, robustness, and response speed of the visual servoing scheme without increasing the cost of hardware is an important research topic. However, most existing studies have investigated how to obtain a better interaction matrix through different feature selection methods or through trajectory planning to improve control performance. Only a few papers have taken into account the robot system dynamics and further compensate for it so as to enhance the performance of the visual servoing scheme. Therefore, this thesis focuses primarily upon the dynamic visual servoing scheme, estimator, controller and their improvements. The experimentally used platforms are six-axis and two-axis robot manipulators.

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