基于自抗扰控制器的机器人无标定手眼协调(英文)

Robotic Calibration-Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller

研究机器人无标定手眼协调问题 .分析了图像空间到机器人操作空间之间的非线性映射关系 ,并把非线性的映射关系看成是系统的未建模动态 .基于自抗扰控制器思想 ,通过对系统未建模动态和外扰的补偿 ,完成了不依赖于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控制 .

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.