  In this study, we investigate object grasping by visual servoing in a
low-rigidity robot. It is difficult for a low-rigidity robot to handle its own
body as intended compared to a rigid robot, and calibration between vision and
body takes some time. In addition, the robot must constantly adapt to changes
in its body, such as the change in camera position and change in joints due to
aging. Therefore, we develop a method for a low-rigidity robot to autonomously
learn visual servoing of its body. We also develop a mechanism that can
adaptively change its visual servoing according to temporal body changes. We
apply our method to a low-rigidity 6-axis arm, MyCobot, and confirm its
effectiveness by conducting object grasping experiments based on visual
servoing.
