| 基于自抗扰控制器的机器人无标定手眼协调 |
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| 引用本文： | 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. |
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| 作者姓名： | 苏剑波 邱文彬 |
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| 作者单位： | 1.上海交通大学自动化研究所,上海 |
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| 基金项目： | SupportedbyNationalNaturalScienceFoundationofP .R .China(6 9875 0 10 ) |
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| 摘 要： | 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.仿真和实验结果表明了该方法的有效性.
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| 关 键 词： | 机器人视觉 手眼协调 无标定 自抗扰控制器 |
| 收稿时间： | 2001-3-20 |
Robotic Calibration-Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller |
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| SU Jian-bo,QIU Wen-bin.Robotic Calibration-Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller[J].Acta Automatica Sinica,2003,29(2):161-167. |
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| Authors: | SU Jian-bo QIU Wen-bin |
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| Affiliation: | 1.Institute of Automation,Shanghai Jiaotong University,Shanghai |
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| 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. |
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| Keywords: | Robot vision hand eye coordination calibration free auto disturbances rejection controller |
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