UNCALIBRATED ROBOTIC HAND-EYE COORDINATION BASED ON THEORY OF COUPLED ADRC

This paper is about the research of uncalibrated robotic hand eye coordination, the paper first introduces the present control methods and their limitations.Based on the principle of coupled Auto Disturbance Rejection Controller and through compensating for dynamic modeling uncertainties and unknown disturbance, we design the coupled robotic hand eye coordination controller that is independent from specific tasks, which has the characteristics of strong robustness. Some simulations and experiments show the effectiveness of this controller.