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| Notations | |
| Perspective projection matrix |
| Homogeneous transformation matrix from the end effector to the base |
| Rotation matrix included in |
| Translation vector included in |
| Homogeneous transformation matrix from the camera to the end effector |
| The Cartesian coordinates of the feature point w.r.t. the robot base frame |
| The matrix consists of the left part of |
| The 1st and 2nd rows of |
| The 3rd row of |
| Jacobian matrix |
| The inertia matrix of manipulator dynamics |
| The Coriolis and centrifugal forces |
| The gravitational force |
| The control input |
| The depth-independent Jacobian matrix |
| The vector derived from |
| The delay-affected depth-independent Jacobian matrix |
| A novel composite Jacobian matrix |
| , | The control gain matrices |
| , | The regressor matrices |
| The unknown parameter vector |
| , the column vector whose th element is 1 and the other element is 0 |
| , the row vector whose th element is 1 and other elements are 0 |
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| Symbols | |
| The standard Euclidean norm |
| The transposition of matrix |
| The matrix consists of the minimum elements of |
| The matrix consists of the maximum elements of |
| The element in the th row and the th column of matrix |
| The visual signal delayed unknown constant duration of |
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