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- W2125310706 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." @default.
- W2125310706 created "2016-06-24" @default.
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- W2125310706 date "2004-03-22" @default.
- W2125310706 modified "2023-09-23" @default.
- W2125310706 title "Uncalibrated robotic 3-D hand-eye coordination based on the extended state observer" @default.
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- W2125310706 doi "https://doi.org/10.1109/robot.2003.1242104" @default.
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