自动化学报2003，Vol.29Issue(2)：161-167,7.
基于自抗扰控制器的机器人无标定手眼协调
Robotic Calibration-Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller
摘要
Abstract
A nonlinear mapping model between image and robot space for the robotic calibration-free hand-eye coordination problem is analyzed,and it is viewed as system unmodeled dynamics. Based on the principle of Auto Disturbances Rejection Controller for dynamical system with uncertainty, the robotic calibration-free hand-eye coordination controller is designed through compensating for the non-modeling dynamics and disturbance. This kind of controller, unlike other methods, is independent of specific tasks, and provides a unified approach for uncalibrated robotic visual servoing. Simulation and experiment results demonstrate the effectiveness of this method.关键词
机器人视觉/手眼协调/无标定/自抗扰控制器Key words
Robot vision/hand-eye coordination/calibration-free/auto disturbances rejection controller分类
信息技术与安全科学引用本文复制引用
苏剑波,邱文彬..基于自抗扰控制器的机器人无标定手眼协调[J].自动化学报,2003,29(2):161-167,7.基金项目
Supported by National Natural Science Foundation of P.R.China(69875010) （69875010）
