Versatile visual servoing without knowledge of true jacobian.pdf cobian matrix estimator.

The Jacobian matrix estimator does not need a priori

knowledge of the kinematic structure and parameters

of the robot system, such as camera and link parameters.

The proposed visual servoing control scheme ensures

the convergence of the image-features to desired

trajectories, by using the estimated Jacobian matrix,

which is proved by the Lyapunov stability theory. To

show the effectiveness of the proposed scheme, simulation

and experimental results are presented.