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Convergence analysis for the uncalibrated robotic hand–eye coordination based on the unmodeled dynamics observer

Published online by Cambridge University Press:  11 August 2009

Jianbo Su
Jianbo Su*
Affiliation:
Research Center of Intelligent Robotics & Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
*
*Corresponding author. E-mail: jbsu@sjtu.edu.cn
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Summary

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The uncalibrated robotic hand–eye coordination problem is firstly modeled by a dynamic system, where the unknown hand–eye relationship is regarded as the system's unmodeled dynamics. A 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. Convergence analysis of the whole system under the proposed control scheme is emphasized. Simulations and experiment results are presented to verify the performance of the proposed approach.

Keywords

Visual servoingUncalibrated hand–eye coordinationUnmodeled dynamicsState observer

Information

Type
Article
Information
Robotica , Volume 28 , Issue 4 , July 2010, pp. 597 - 605
Copyright
Copyright © Cambridge University Press 2009

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