Uncalibrate Visual Servo with Variable Structure Control
具有变结构控制器的无定标视觉伺服*

Considering the specific problems of visual servoing,this paper proposed a model independent uncalibration visual servo control method.This method didn't need robot kinematics and camera model,the image Jacobian was estimated using the recursive least squares algorithm,the robot system was controlled by variable structure control theory to the design of the controller.The system was proved to be asymptotic stable by using Lyapunov direct method.The simulation experiment results show the correctness of the proposed algorithm.