基于耦合ADRC原理的机器人无标定手眼协调

UNCALIBRATED ROBOTIC HAND-EYE COORDINATION BASED ON THEORY OF COUPLED ADRC

研究机器人的无标定手眼协调问题 .基于耦合的自抗扰控制器思想 ,通过对系统建模的不确定性及其未知外扰进行非线性补偿 ,完成了相互耦合的不依赖于系统特定任务的无标定手眼协调控制器的设计 ,实现了广泛意义的机器人无标定手眼协调 。

This paper is about the research of uncalibrated robotic hand eye coordination, the paper first introduces the present control methods and their limitations. Based on the principle of coupled Auto Disturbance Rejection Controller and through compensating for dynamic modeling uncertainties and unknown disturbance, we design the coupled robotic hand eye coordination controller that is independent from specific tasks, which has the characteristics of strong robustness. Some simulations and experiments show the effectiveness of this controller.