On-line Path Planning and Visual Tracking of Fast-Moving Objects by Robot Manipulators with High-Speed Camera Arrays

Tesheng Hsiao*, Ching Hung Cheng

*此作品的通信作者

研究成果: Conference contribution同行評審

1 引文 斯高帕斯(Scopus)

摘要

In this paper, we investigate the problem of tracking a fast-moving object by a robot manipulator. The tracking task considered in this paper includes visually locating and predicting the trajectory of an object, approaching and physically contacting the object with the robot arm. Since the object moves with high and varying speeds, tight integration of a high-speed vision system and the robot motion controller is critical for accomplishing this tracking task. We combine multiple cameras and embedded computers to construct a camera array with low latency and an equivalent frame rate as high as the sampling rate of the motion control law. Furthermore, the camera array is triggered and synchronized by the motion controller. The path of the robot is re-planned on-line at every sampling time whenever the camera array updates the latest position of the object. Experiments were conducted and the results showed that the proposed robotic tracking system can accurately predict the trajectory of a fast-moving object, and successfully contact it with the tip of the robot arm.

原文English
主出版物標題2020 American Control Conference, ACC 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面5065-5070
頁數6
ISBN(電子)9781538682661
DOIs
出版狀態Published - 7月 2020
事件2020 American Control Conference, ACC 2020 - Denver, United States
持續時間: 1 7月 20203 7月 2020

出版系列

名字Proceedings of the American Control Conference
2020-July
ISSN(列印)0743-1619

Conference

Conference2020 American Control Conference, ACC 2020
國家/地區United States
城市Denver
期間1/07/203/07/20

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