Based on Binocular Disparity Robotics Visual Servo for Position Tracking
As we know, without stereoscopic vision guiding robot only move on plane platform as well as robot only actively move along the planed trajectory and repeat the fixed work, In addition, this kind robot is lack of flexibility. As mentioned above, researching three-dimensional visual servo system has great significance for us. Based on binocular stereo visual servo system, robot not only has subhuman perception, but also can acquire the target objects threedimensional position. The robot is able to adjust to altering his activity while changes happen to robots workspace or the target object. In this paper, the servoing system is Eye-to-Hand construction. Robot can generate the end-effectors trajectory by himself while target be tracked by vision. Simulation results show the manipulator guided by binocular visual system can track the motion of the target in workspace accurately. Moreover, in the ADAMS environment, the posture of manipulator is observed visually and dynamically. And also experimental date can be used to illustrate the application techniques as well as to demonstrate the validity of the approach.
Robotic Binocular Disparity Matlab ADAMS Position tracking
Hua Jin Yu Naigong Wang Li
Beijing University of Technology,Chao Yang District,Beijing,100124 China
国际会议
厦门
英文
1027-1031
2010-05-22（万方平台首次上网日期，不代表论文的发表时间）