A Hands-on Tutorial for Implementing Eye-in-Hand Visual Servoing in Robot Applications

In this tutorial paper, we aim to provide a comprehensive and replicable example of implementing image-based visual servoing within the realm of robotic manipulation. Our primary objective is to furnish concise yet robust learning resources, including practical ROS-based source code, to assist those pursuing robotic manipulation projects that leverage the advantages of motion coordination using geometric information derived from image processing. Image-based visual servoing, a technique recognized and employed in numerous applications, often lacks in-depth, instructive tutorials elucidating both its theoretical underpinnings and practical applications, complete with step-by-step instructions and source code. Consequently, we tailor our paper towards students, engineers, researchers, and educators seeking to utilize holistic learning materials in this field.