Calibration-free robotic eye-hand coordination based on an auto disturbance-rejection controller

This paper addresses the calibration-free robotic eye-hand coordination in a way other than the conventional image Jacobian matrix approach that has been studied extensively in literature. A nonlinear mapping rather than the linear mapping used in the image Jacobian matrix between the image space an...

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Vydáno v:IEEE transactions on robotics Ročník 20; číslo 5; s. 899 - 907
Hlavní autoři: Su, Jianbo, Qiu, Wenbin, Ma, Hongyu, Peng-Yung, Woo
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.10.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Applied sciences
Artificial intelligence
Calibration
Computer science; control theory; systems
Control systems
Control theory. Systems
Dynamic programming
Dynamical systems
Exact sciences and technology
Feedback
Jacobi matrix method
Jacobian matrices
Jacobian matrix
Motor ability
Nonlinear control systems
Nonlinear dynamical systems
Nonlinear dynamics
Nonlinear equations
Observers
Orbital robotics
Pattern recognition. Digital image processing. Computational geometry
Robot control
Robot kinematics
Robotics
Robots
State estimation
State feedback
Disturbance rejection
Non linear control
Control synthesis
State estimation
Robot vision
Robotics
ISSN:1552-3098, 1941-0468
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Shrnutí:This paper addresses the calibration-free robotic eye-hand coordination in a way other than the conventional image Jacobian matrix approach that has been studied extensively in literature. A nonlinear mapping rather than the linear mapping used in the image Jacobian matrix between the image space and the robotic control space is proposed. This mapping is regarded as the system's unmodeled dynamics expressed in system state equations. An extended state observer is designed first to estimate the unmodeled dynamics as well as the external disturbance of the system. With the estimation results as the compensation, a system controller is designed based on the nonlinear state-error feedback control strategy. Convergence of the extended state observer as well as the overall controller for a typical eye-hand coordination system is proved. Compared with the conventional calibration-free robotic eye-hand coordination with a Jacobian matrix, the proposed controller is independent of specific tasks and system configurations. Thus, a general design procedure is proposed for the calibration-free robotic eye-hand coordination. Simulation and experiment results demonstrate the satisfactory performance and effectiveness of the proposed approach.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829458