基于遗传优化自抗扰控制器的机器人无标定手眼协调

Uncalibrated Robotic Hand-Eye Coordination Based on Genetically Optimized ADRC

  • 摘要: 研究机器人无标定手眼协调控制,提出了自适应遗传算法(AGA)选取与优化自抗扰控制器(ADRC)参数的方法,较好地解决了其过多参数难以调节的问题.采用两个结构相同的一阶ADRC实现了六自由度机器人的无标定视觉跟踪控制,以及Motom an-SV3XL机器人的视觉定位.实验结果验证了算法的可行性和有效性.

     

    Abstract: 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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