Algorithm 3 Pseudocode of the visual-servo control of the robotic arms

While (true) {

$\mathrm{Calculate} \mathit{s}=\left({}^{h^{*}}\mathit{t}_h, \theta \mathbf{u}\right)$$, {\mathit{s}}^{*}=\left(0, 0\right)$;

$\mathrm{Calculate} \mathit{e}=\mathit{s}-{\mathit{s}}^{*}=\left({}^{h^{*}}\mathit{t}_h, \theta \mathbf{u}\right)$;

$\mathrm{if} (\left|e(3)\right|<0.02 \&\& \left|e(4)\right|<0.02 \&\& \left|e(5)\right|<0.02$) {

$\mathrm{if} (\left|e(0)\right|<0.01 \&\& \left|e(1)\right|<0.01 \&\& \left|e(2)\right|<0.01$) {

break;

}

else {

$\left(\begin{array}{c}\mathit{v}\\ \mathit{w}\end{array}\right)=-\lambda {{\mathit{J}}_a}^{+}{\mathit{W}}_a{{\mathcal{L}}_{\mathit{e}}}^{+}e$

${\mathit{p}}^{\prime }=\mathit{p}+\left(\begin{array}{c}\mathit{v}\\ \mathit{w}\end{array}\right)$

$\mathit{q}=IK({\mathit{p}}^{\prime })$

$Cmd(\mathit{q})$

}

}

else {

$\left(\begin{array}{c}\mathit{v}\\ \mathit{w}\end{array}\right)=-\lambda {{\mathit{J}}_a}^{+}{\mathit{W}}_a{{\mathbf{L}}_e}^{+}\mathit{e}$

${\mathit{p}}^{\prime }=\mathit{p}+\left(\begin{array}{c}\mathit{v}\\ \mathit{w}\end{array}\right)$

$Cmd(\mathit{q})$;

}

}