基于视觉的接球机器人的研制

2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI:10.1109/ICA-SYMP50206.2021.9358432

Kasun Gayashan Hettihewa, M. Parnichkun

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引用次数: 1

摘要

本文研究了一种采用静态摄像机和自动控制机械系统的自动抓球方案。机器人系统能够接住朝向接球平面的球。机器人根据球的轨迹类型和速度，以不同的成功率完成接球任务。通过球检测图像处理算法对抛出的球进行视觉跟踪。采用PID算法对接球机的二维同步运动进行协调。通过实验对机器人的性能进行了评价。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of a Vision Based Ball Catching Robot

This paper investigates an automated solution for ball catching task using a static camera and an automatically controlled mechanical system. The robot system is able to catch a ball which comes towards the ball catching plane. The robot accomplishes the ball-catching task with different success rates according to the trajectory type and speed of the ball. The thrown ball is visually tracked through a ball detection image processing algorithm. 2D synchronized motion of the ball catcher is coordinated by PID algorithm. Experimental results are conducted to evaluate the robot performance.

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来源期刊

2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)

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