| 杜浩森*,方凯**,韩录**,刘福才**.基于自抗扰控制的点线特征解耦视觉伺服方法[J].高技术通讯(中文),2026,36(4):397~408 |
| 基于自抗扰控制的点线特征解耦视觉伺服方法 |
| Decoupled visual servoing method based on active disturbance rejection control using point and line features |
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| DOI：10. 3772 / j. issn. 1002 - 0470. 2026. 04. 007 |
| 中文关键词: 自动切膜； 视觉伺服； 自抗扰控制； 点线特征； 解耦控制 |
| 英文关键词: automatic film cutting, visual servoing, active disturbance rejection control, point and line features, decoupled control |
| 基金项目: |
| 作者 | 单位 | | 杜浩森* | (*燕山大学机械工程学院秦皇岛 066004)
(**燕山大学河北省工业计算机控制工程重点实验室秦皇岛 066004) | | 方凯** | | | 韩录** | | | 刘福才** | |
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| 中文摘要: |
| 针对传统的视觉伺服方法中对目标深度信息依赖度高，以及以点和线为视觉特征进行视觉伺服控制时姿态控制和位置控制耦合等问题，提出了一种基于自抗扰控制(active disturbance rejection control, ADRC)的点线特征解耦视觉伺服方法。针对视觉特征中深度信息未知问题，采用自抗扰控制理论中的扩张状态观测器，实现对视觉特征深度信息未知带来的视觉伺服误差进行动态补偿，并同时补偿姿态控制对位置控制的影响以及其他未知干扰，实现姿态和位置的解耦控制，最后使用状态误差反馈获得机械臂运动空间控制量。对工业六自由度机械臂夹胶玻璃边缘伺服定位实验表明，机械臂末端收敛速度快，收敛过程平稳，无回退绕行现象，且定位精度较高，实现了机械臂对夹胶玻璃边缘的自主定位操作。 |
| 英文摘要: |
| A decoupled visual servoing method based on active disturbance rejection control (ADRC) using point and line features is proposed to address the high dependence on target depth information in traditional visual servoing methods and the coupling of attitude and position control when using point and line features for visual servoing. To address the issue of unknown depth information in the visual features, an extended state observer from ADRC theory is employed to dynamically compensate for visual servoing deviations caused by the unknown depth information, while also compensating for the influence of attitude control on position control and other unknown disturbances, achieving decoupled control of attitude and position. State error feedback is then used to obtain the control input for the robot’s motion in space. Experimental results on servo positioning of the laminated glass edge by an industrial six-degree-of-freedom robot arm demonstrate that the robot’s end-effector converges quickly, with a smooth convergence process, no backing or bypassing, and high positioning accuracy. This method realizes the autonomous positioning operation of the robotic arm on the edge of laminated glass. |
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