基于耦合自抗扰控制器的无标定手眼协调

Calibration-Free Hand-Eye Coordination Based on Coupled Auto-Disturbance Rejection Controller

研究机械臂在手眼关系未知情况下依靠视觉信息引导完成精确定位及跟踪问题。基于耦合自抗扰控制器原理,设计了不依赖于特定任务的广泛意义下的手眼协调控制器。通过将全局固定眼和局部手上眼相结合,实现了整个机器人操作空间范围内的精确定位与跟踪。仿真和实验验证了这一方法的可行性和有效性。

The positioning and tracking problem with a calibrationfree robotic handeye coordination system is studied. A general controller for handeye coordination is designed based on the coupled autodisturbance rejection controller, which is independent of the specific tasks to be fulfilled. A global fixed eye and a local inhand eye are employed to implement a complementary visual feedback by switching from each other under certain conditions. Extensive simulations and experiments show the validity and feasibility of this method.