Uncalibrated eye-in-hand visual servoing using adaptive recursive least squares

In this paper, a Visual Servoing algorithm using adaptive recursive least squares (VS-ARLS) is proposed and investigated in depth. At the beginning, the classical uncalibrated visual servoing using recursive least squares (VS-RLS) is introduced and analyzed, then the performance evaluation criterions of time-vary system tracking are discussed, based on which a new visual servoing algorithm using adaptive recursive least squares is proposed and explored theoretically. Finally, the experimental results verify the performance of VS-ARLS.