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本文研究机器人手眼系统在手眼关系未知情况下协调跟踪二维运动目标的新方法。摄像机与机器人分离,它与机器人坐标系和工作平面之间的关系未知。机器人运动由上一控制周期中规划的运动及目标在图像上的位置决定,机器人与视觉系统之间的协调与它们两者之间的标定关系无关,充分的仿真研究显示了这一方法的有效性,并表明采用给定的协调方法,摄像机可根据目标运动特点及任务需求,在线调整观察位姿,且不会增加任何控制开销。
In this paper, a new method of coordinating the tracking of two-dimensional moving targets in the robot hand-eye system with unknown hand-eye relationship is studied in this paper. Camera and robot separation, its relationship with the robot coordinate system and the working plane is unknown. The motion of the robot is determined by the position of the motion and the target on the image planned in the previous control cycle. The coordination between the robot and the visual system has nothing to do with the calibration between them, and sufficient simulation studies show the effectiveness of this method And shows that using a given coordination method, the camera can adjust the look posture based on the characteristics of the target movement and the mission requirements without adding any control overhead.