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《High Technology Letters》 2002-06
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Moving Object Tracking and Grasping Based on Visual Guiding and Ultrasonic Measurement

Peng Gang, Huang Xinhan, Wang Min, Xiong Chunshan(Control Science and Engineering Department, Huazhong University of Science and Technology, Wuhan 430074)  
The tracking and grasping method of moving object based on visual guiding and ultrasonic measurement in assembly robot system is presented. Above all, the tracking principle of moving object is introduced. According to image Jacobian matrix, robot is controlled to track the moving object. After that, the method of tracking moving object is discussed in detail. The position and orientation is can be obtained based on visual guiding, therefore the planar motion tracking of object is implemented, and the depth of the object is easily acquired through ultrasonic measurement. The experimental platform of eye on hand robot vision tracking system is proposed lastly. The feasibility and validity of the method is validated in experiment result.
【Fund】: 86 3计划 ( 86 3 512 2 0 0 1/ 980 1)资助项目
【CateGory Index】: TP274.53
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