Name
Title | ||
|---|---|---|
Task-independent robotic uncalibrated hand-eye coordination based on the extended state observer. |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/TSMCB.2004.827615 | IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society |
Keywords | DocType | Volume |
observers,system state errors,uncertain systems,robots,system external disturbances,dynamic system,uncalibrated robotic hand-eye coordination,extended state observer,task-independent uncalibrated robotic hand-eye coordination problem,system configuration,system modeling error,unknown hand-eye relationship,nonlinear control systems,jacobian matrices,controller design,coupled hand-eye systems,tracking,task-independent robotic uncalibrated hand-eye,dynamic tracking task,compensation,system state error,system control,modeling error,hand-eye system,model error,state observer | Journal | 34 |
Issue | ISSN | Citations |
4 | 1083-4419 | 13 |
PageRank | References | Authors |
0.96 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jianbo Su | 1 | 231 | 38.20 |
| Hongyu Ma | 2 | 35 | 4.76 |
| Wenbin Qiu | 3 | 214 | 13.00 |
| Yugeng Xi | 4 | 335 | 45.74 |