What Tasks can be Performed with an Uncalibrated Stereo Vision System?
International Journal of Computer Vision
Performance analysis of neural network-based uncalibrated hand-eye coordination
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part III
Calibration-free robotic eye-hand coordination based on an auto disturbance-rejection controller
IEEE Transactions on Robotics
Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Task-independent robotic uncalibrated hand-eye coordination based on the extended state observer
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Image-based robot task planning and control using a compact visual representation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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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.