Task-independent robotic uncalibrated hand-eye coordination based on the extended state observer

This paper proposes a standard method to approach the uncalibrated robotic hand-eye coordination problem that is system configuration- and task-independent. The unknown hand-eye relationship is first modeled as the modeling errors of a dynamic system. An extended state observer is then implemented to estimate summation of the system´s modeling error and the system´s external disturbances. With the estimation results as the compensation, the system control is accomplished from a nonlinear combination of the system state errors. A universal framework of controller design is provided for decoupled and coupled hand-eye systems of different configurations to execute dynamic tracking task.