NDLI: Robotic uncalibrated hand-eye coordination based on the extended state observer

Content Provider	IEEE Xplore Digital Library
Author	Jianbo Su Hongyu Ma Zhiwei Luo
Copyright Year	2004
Description	Author affiliation: Res. Center of Intelligent Robotics, Shanghai Jiao Tong Univ., China (Jianbo Su; Hongyu Ma)
Abstract	This paper proposes a standard control method to approach the uncalibrated robotic hand-eye coordination problem, which is system configuration- and task-independent. The coordination problem is first modeled by a dynamic system, where the unknown hand-eye relationship is regarded as system's modeling errors. An extended state observer is then designed to estimate impacts of this modeling error together with the system's external disturbances. With the estimation results as the compensation, the system control is thus accomplished based on a nonlinear combination of the system state errors. Experimental results are presented to verify the efficacy of the proposed approach and highlight the satisfactory performance.
Starting Page	989
Ending Page	996
File Size	1322253
Page Count	8
File Format	PDF
ISBN	0780388739
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-07-20
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	ASCC
Subject Keyword	Jacobian matrices Robot kinematics Artificial neural networks Observers Nonlinear control systems Automatic control Control systems Robotics and automation State estimation Modeling
Content Type	Text
Resource Type	Article

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Robotic uncalibrated hand-eye coordination based on the extended state observer