Uncalibrated Robotic 3D Hand-Eye Coordination Based on Auto Disturbance Rejection Controller
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摘要: 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三维空间定位及跟踪问题. 基于耦合自抗扰控制原理,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.利用 两个全局摄像机组成双目视觉系统,由图像特征可充分地确定机器人三维空间中的位置信 息.仿真和实验对这一方法的可行性和有效性进行了验证.Abstract: This paper is about robot 3D positioning and tracking under the guidance of vision in the uncalibrated environment. Based on the principle of coupled ADRC (Auto Disturbance Rejection Controller), a universal controller which is independent of special task is designed, and 3D positioning and tracking information in the manipulating space is obtained through vision information using two global cameras. Simulations and experiments show the validity and feasibility of this method.
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