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Dynamics and system performance of visual servoing

The components in the control loop of a visual servoing system are analysed with respect to the dynamic performance. The performance measure is the velocity of the target that can be tracked and expressed as image pixel error. The best dynamic performance obtains the visual servoing system when the vision system operates at at the highest possible rate of image acquisition. The size of the tracking window results from image acquisition time. The optimal parallel architecture is independent of the computing power and the control method used.