Title :
Uncalibrated hand/eye coordination based on auto disturbance rejection controller
Author :
Su, Jianbo ; Xi, Yugeng
Author_Institution :
Inst. of Autom. & Res. Center of Intelligent Robotics, Shanghai Jiao Tong Univ., China
Abstract :
The universal design method for the controller of the uncalibrated robotic hand/eye coordination system is investigated. The image Jacobian model is employed and the principle of the auto disturbance-rejection controller is introduced so that the new controller is independent of specific tasks and system configurations. Simulation and experiment results demonstrate the effectiveness of the proposed approach.
Keywords :
Jacobian matrices; manipulators; motion control; nonlinear control systems; observers; position control; robot vision; auto disturbance rejection controller; image Jacobian model; nonlinear control; state observer; uncalibrated hand/eye coordination; universal design method; Cameras; Control systems; Feedback; Manipulators; Robot control; Robot kinematics; Robot vision systems; Target tracking; Uncertainty; Velocity control;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184626
