Study on uncalibrated visual servoing technique

It is impossible to get precise parameters to calibrate model of camera and robot kinematics, while some uncalibrated visual servoing technique are only for static target and some for dynamic target but can not dismiss effect of large residual. An uncalibrated method for visual servoing technique is presented. The robot system is controlled using dynamic nonlinear least squares optimization technique to tracking moving target. Dynamic quasi-Newton approach is used to estimate image-jacobian matrix. System is more stable using recursive least squares algorithm. The approach for estimation of large residual is proposed. Simulation result shows that the algorithm is of validate and correct.