$V_e^m$	End-effector twist vector in the mixed frame
$V_e^b$	End-effector twist vector in the base frame
$q$	Robotic arm joint angles
$\dot{q}$	Robot’s Joint velocity vector
$\omega$	Angular velocity
$r,p,y$	Roll, pitch, yaw angles of the end-effector frame
${\chi }_{conv}$	Pose in a conventional task space
${\chi }_{mix}$	Pose in the mixed frame configuration
$\dot{\chi }$	Task space velocity of the end effector
$\dot{{\varphi }_e}\left(\Gamma \right)$	Rotational velocity of the end effector as the rate of change in Euler angles
$v_e^b$	End-effector translation velocity in the base frame
$V_e^e$	End-effector velocity vector in the end-effector frame
$V_c^c$	Camera twist vector in the camera frame
$p_{x,y,z}^b$	Position of the end-effector w.r.t the base frame
$J_{mix},J_m$	Mixed frame Jacobian matrix
$J\left(\mathsf{\Gamma }\right)$	Analytical Jacobian transformation matrix
$J_b$	Jacobian matrix in the base frame
$\lambda$	Constant proportional gain
${\lambda }_{adp }$	Adaptive gain
$k_{d }$	Derivative gain
$\dot{e}$	Rate of change in feature error
$X$	Motion transformation matrix
$\mathit{B}$	Analytical transformation matrix
${}_{\mathit{c}}{}^{\mathit{e}}\mathit{R}$	Rotation matrix from the camera to the end-effector frame
${}_{\mathit{e}}{}^{\mathit{b}}\mathit{R}$	Rotation matrix from the end effector to the base frame
${}_{\mathit{b}}{}^{\mathit{e}}\mathit{R}$	Rotation matrix from the base to the end-effector frame