主从机械手遥控操作摄像机自动跟踪系统

介绍了一种摄像机云台自动跟踪控制系统 ,该系统用来实现遥控机械手主从操作时摄像机自动跟踪从手末端夹钳的运动以辅助操作员进行遥控操作 ;介绍了系统的组成、工作原理及控制算法 ;实验结果验证了算法的正确性和控制系统的可行性。

A cameral automatic tracking system is introduced in this paper. The system is designed to realize the automatic tracking of the motion of the slave manipulators end  effector and assisting operators manipulation when working in remote operating mode. The configuration,working principle and control algorithm is also introduced in the paper. Experimental results proved the rightness of the algorithm and the feasibility of the control system.

国家“8 63”计划资助项目!( 863 -5 12 -0 9)