机构地区: 天津大学机械工程学院
出 处: 《机床与液压》 2005年第9期42-43,共2页
摘 要: 讨论了机器人视觉跟踪两维运动目标的方法。用基于图象的视觉伺服方法来预测特征点在图象平面的运动轨迹。根据这个预测和机器人的当前位姿来预测机器人的各关节运动变量。在开放式机器人控制器中,用三次样条函数来平滑离散规划位置,以避免跟踪运动中的振荡。 Robotic visual tracking method for two-dimensional moving object was discussed. Trajectories of feature points on image plane were predicted by image-based visual servo method. The robot joint variables were calculated according to the prediction of trajectory and current robot pose. The three-order spline function was employed to smooth the discrete planning positions in the robot controller with open architecture. In order to avoid the vibration in the robot tracking motion.
领 域: [自动化与计算机技术] [自动化与计算机技术]