Task-Independent Robotic Uncalibrated Hand-Eye Coordination Based on the Extended State Observer

摘要

This paper proposes a standard method to approach the uncalibrated robotic hand-eye coordination problem that is system configuration- and task-independent. The unknown hand-eye relationship is first modeled as the modeling errors of a dynamic system. An extended state observer is then implemented to estimate summation of the system's modeling error and the system's external disturbances. With the estimation results as the compensation, the system control is accomplished from a nonlinear combination of the system state errors. A universal framework of controller design is provided for decoupled and coupled hand-eye systems of different configurations to execute dynamic tracking task.