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Uncalibrated peg-hole alignment using visual servoing

This paper presents a novel method of peg-hole alignment using visual servoing under the circumstance of uncalibrated camera and uncalibrated tool. Two points and two lines are extracted as image features from the tool projection. By adopting depth-independent interaction matrix, all the unknown parameters appear linearly so that they can be estimated online. An adaptive kinematic-based controller is designed and asymptotic convergence is proved. Simulation results are presented to verify the performance.