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

摘要

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.