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.
出处
《机床与液压》
北大核心
2005年第9期42-43,共2页
Machine Tool & Hydraulics
关键词
机器人
视觉跟踪
轨迹预测
Robot
Visual tracking
Trajectory prediction
作者简介
王刚（1949-），男，天津人，副教授，主要研究方向为机器人控制、计算机视觉等。
