摘要
视觉传感器（摄像机）的信息传感方式是机器人手眼协调研究中一个重要而又容易被忽略的问题．本文研究具有运动自由度的摄像机反馈运动目标信息的视觉反馈方式．给出了为克服摄像机视场小和图像平面存在畸变的缺点而设计的注视运动目标的两种算法，即只改变摄像机空间位置的平移法和只改变摄像机姿态的变姿法，并讨论了它们的优缺点．
This paper studies the visual feedback strategy for the camera(eye) of translation or rotation degrees of freedom. Two kinds of approaches are discussed for the eye to gaze the moving object, in order to overcome the drawbacks from visual feedback: (1) small visual field of the eye; and (2) distortions of the eye image plane. The properties of the two approaches are discussed and compared from the viewpoints of visual feedback and hand/eye coordination. Experiments are also provided to show the effects of the proposed gazing method.
出处
《机器人》
EI
CSCD
北大核心
1999年第2期86-91,共6页
Robot
