LIU Ding, LIU Xiao-li, YANG Yan-xi. Uncalibrated Robotic Hand-Eye Coordination Based on Genetically Optimized ADRC[J]. ROBOT, 2006, 28(5): 510-514.
Citation: LIU Ding, LIU Xiao-li, YANG Yan-xi. Uncalibrated Robotic Hand-Eye Coordination Based on Genetically Optimized ADRC[J]. ROBOT, 2006, 28(5): 510-514.

Uncalibrated Robotic Hand-Eye Coordination Based on Genetically Optimized ADRC

  • The control of uncalibrated robotic hand-eye coordination is studied and a method that adopts Adaptive Genetic Algorithm(AGA) to choose and optimize parameters of the Auto Disturbance Rejection Controller(ADRC) is proposed,which well solves the problem of adjusting its over-abundant parameters.Uncalibrated visual tracking control of a six degree-of-freedom robot and visual orientatation of a Motoman-SV3XL robot are realized by two first-order ADRCs with the same structure.Experimental results prove the feasibility and validity of the algorithm.
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