Name
Abstract | ||
|---|---|---|
This paper studies a novel method to deal with the unknown image Jacobian matrix model for the uncalibrated robotic hand-eye coordination. An extended state observer is designed for online estimation of the image Jacobian matrix that is regarded as the system's unmodeled dynamics. A nonlinear feedback control law is then adopted for the coordination controller. With this scheme, a universal calibration-free controller is developed, which is independent from specific tasks and system configuration, for uncalibrated hand-eye coordination. Simulations and experiments of 3-D robotic visual positioning and tracking tasks show the validity and feasibility of the proposed control scheme. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/ROBOT.2003.1242104 | 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS |
Keywords | Field | DocType |
state observer,feedback control,feedback,jacobian matrix,tracking | State observer,Control theory,Robot vision,Nonlinear system,Eye–hand coordination,Jacobian matrix and determinant,Control theory,System configuration,Control engineering,Engineering | Conference |
Volume | Issue | ISSN |
3 | 1 | 1050-4729 |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
2 | ||