| 基于耦合ADRC原理的机器人无标定手眼协调 |
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| 引用本文： | 马红雨,苏剑波.基于耦合ADRC原理的机器人无标定手眼协调[J].机器人,2003,25(1):39-43. |
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| 作者姓名： | 马红雨 苏剑波 |
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| 作者单位： | 上海交通大学自动化研究所,上海,200030 |
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| 摘 要： | 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，最后的仿真和实验
说明了该方法的可行性．
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| 关 键 词： | 手眼协调 视觉跟踪 无标定 自抗扰控制器 |
| 文章编号： | 1002-0446(2003)01-0039-05 |
| 修稿时间： | 2002年6月27日 |
UNCALIBRATED ROBOTIC HAND-EYE COORDINATION BASED ON THEORY OF COUPLED ADRC |
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| MA Hong,yu,SU Jian,bo.UNCALIBRATED ROBOTIC HAND-EYE COORDINATION BASED ON THEORY OF COUPLED ADRC[J].Robot,2003,25(1):39-43. |
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| Authors: | MA Hong yu SU Jian bo |
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| Abstract: | 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. |
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| Keywords: | hand eye coordination vision tracking uncalibration auto disturbance rejection controller |
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