Versatile visual servoing without knowledge of true Jacobian

In this paper, we propose a versatile visual servo-ing control scheme with a Jacobian 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 parame-ters. The proposed visual servoing control scheme en-sures 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, simu-lation and experimental results are presented.