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In this paper, we establish a ball-batting robotic system which consists of a four-joint robot arm with a paddle at its tip, and a high-speed stereovision system. The stereovision system tracks and predicts the trajectory of a flying ball. Then the robot hits the flying ball with the paddle and sends the rebounding ball to a desired location. An optimal batting decision making algorithm is proposed...
As we know, the dynamic visual-tracking control, which is based on the depth-independent interaction matrix, has been proposed to cope with the general 3-D motion of robot manipulators. To deal with the unknown camera parameters, an adaptive law has been designed. It is noted, however, that the designed adaptive law uses a vector signal defined by the true depths of feature points, which are unavailable...
The paper reports the control way of visual tracking to a fast moving target with using an active binocular robot. The robot consists of a pair of active cameras and performs as a stereo vision system. The motions of those cameras are controlled independently and achieve rigid visual tracking respectively. The difficulty of visual tracking to a fast target is to suppress the tracking delay, affected...
In this paper, we propose a visual tracking control method of a hand-eye robot for a moving target object with multiple feature points. The hand-eye robot is constructed from a three-DoF planar manipulator and a single CCD camera that is mounted on the manipulator's end-effector. The control objective is to keep all feature points of the target object around their desired coordinates on the image...
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