Manipulator Calibration-Free Hand-Eye Coordination Based on ADRC Under Eye Fixation

The forward kinematics of the manipulator and the Jacobian matrix of the manipulator are analysed and the D-H (Denavit-Hartenberg) method is used in manipulator modeling. The nonlinear relationship between the manipulator and the camera system is analyzed, and it is built into the form of ADRC (Active Disturbances Rejection Controller). The ESO (extended state observer) in ADRC is used to compensate the inaccuracy and unknown interference of system modeling, and realize the hand-eye coordinated control of the manipulator under the eye fixation. The feasibility and effectiveness of this method are verified by the simulation.