In this technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A highgain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is developed to stabilize the translation error while compensating for the unknown depth information and

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... nsic camera calibration parameters. A Lyapunov-based analysis is used to examine the stability of the developed controller. Index Terms-Lyapunov methods, quaternion representation, robust adaptive control, uncertain systems, visual servo control.