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

SU Jian-Bo; QIU Wen-Bin

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

机译：基于自抗干扰控制器的机器人免标手眼协调

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摘要

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.

机译：分析了机器人无标定手眼协调问题的图像和机器人空间之间的非线性映射模型，并将其视为系统未建模的动力学。基于不确定性动力系统的自干扰抑制控制器原理，通过补偿非建模动力学和扰动，设计了免校准机器人手眼协调控制器。与其他方法不同，这种控制器独立于特定任务，并为未校准的机器人视觉伺服提供了统一的方法。仿真和实验结果证明了该方法的有效性。

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来源
《Acta Automatica Sinica》 |2003年第2期|p.161-167|共7页
作者
SU Jian-Bo; QIU Wen-Bin;
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作者单位

Institute of Automation, Shanghai Jiaotong University, Shanghai 200030;

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原文格式 PDF
正文语种 eng
中图分类自动化技术、计算机技术;
关键词
robot vision; hand-eye coordination; calibration-free; auto disturbances rejection controller;

机译：机器人视觉;手眼协调;免校准;自动干扰抑制控制器;

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1. Calibration-free robotic eye-hand coordination based on an auto disturbance-rejection controller [J] . Jianbo Su, Wenbin Qiu, Hongyu Ma, IEEE Transactions on Robotics . 2004,第5期

机译：基于自动干扰消除控制器的免校准机器人眼手协调
2. Investigations On Auto Disturbance Rejection Controller And Fuzzy Controller For Microturbine Based Distributed Generator [J] . K. Durga Malleswara Rao, K. Ravi Kumar, P. Upendra Kumar, International Journal of Engineering Research and Applications . 2012,第2期

机译：基于微机的分布式发电机自抗扰控制器和模糊控制器的研究
3. Investigations On Auto Disturbance Rejection Controller And Fuzzy Controller For Microturbine Based Distributed Generator [J] . K. Durga Malleswara Rao, K. Ravi Kumar, P. Upendra Kumar, International Journal of Engineering Research and Applications . 2012,第2期

机译：基于微机的分布式发电机自抗扰控制器和模糊控制器的研究
4. Full-DOF Calibration-Free Robotic Hand-Eye Coordination Based on Fuzzy Neural Network [C] . Jianbo Su, Qielu Pan, Zhiwei Luo International Symposium on Neural Networks pt.2; 20040819-20040821; Dalian; CN . 2004

机译：基于模糊神经网络的全自由度免校准机器人手眼协调
5. Hand-Eye Coordination for Robotic Grasping using Deep Learning for Frame Coordinate Transform [D] . Sarma, Tejas Seshadri . 2019

机译：使用深度学习框架坐标变换的机器人抓地力学的手眼协调
6. A Novel Controller Design for the Next Generation Space Electrostatic Accelerometer Based on Disturbance Observation and Rejection [O] . Hongyin Li, Yanzheng Bai, Ming Hu, 2017

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7. Calibration-Free Robotic Eye–Hand Coordination Based on an Auto Disturbance-Rejection Controller [O] . Jianbo Su, Wenbin Qiu, Hongyu Ma, 2014

机译：基于自动扰动抑制控制器的无校准机器人眼手协调
8. Neural Network Controller for Adaptive Hand-Eye Coordination in Robots [R] . Kuperstein, M. 1988

机译：机器人自适应手眼协调的神经网络控制器

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

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