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

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.