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ADRC理论和技术在机器人无标定视觉伺服中的应用和发展

DOI: 10.13195/j.kzyjc.2014.0457, PP. 1-8

Keywords: 机器人,视觉伺服,手眼协调,无标定,自抗扰控制器

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Abstract:

针对Activedisturbancerejectioncontroller(ADRC)理论和方法在机器人无标定视觉伺服研究领域中的应用及取得的成果进行综述.剖析了机器人无标定视觉伺服研究的本质特性和关键问题,说明其与ADRC理论和思想在方法论上的一致性,特别以机器人无标定手眼协调这一典型应用为例,展示了ADRC理论和技术用于处理机器人无标定手眼协调问题的合理性.给出了控制器的基本设计过程,并在已有成果的基础上讨论了控制器的收敛性以及ADRC设计中的参数整定方法.最后讨论了一些尚未解决的问题,指出了今后继续研究的方向.

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