Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering ( IF 1.6 ) Pub Date : 2021-02-14 , DOI: 10.1177/0959651821991363 Liang-Chien Liu, Ping-Han Yang, Shih-Chi Liao, Bing-Peng Li, Fu-Cheng Wang, Pei-Chun Lin
This article presents the development of a visual-servo filming robot for dolly & truck style camera movement in filming applications. The robot was implemented with a fast-response slider as the upper stage on top of the slow-response tracked robot body as the lower stage, to improve target tracking performance. A new switching controller was developed, which controlled the stages’ motions by balancing and adjusting the weights of vision error and slider’s noncentering error of the upper stage, thus achieving tracking performance better than the traditional master–slave control strategy. The simulations were carried out to evaluate the tracking performance of the model, particularly focusing on evaluating how the dual stage improves the overall response of the model. The similar evaluation was executed experimentally as well. Both results confirm that the fast-response characteristics of the upper stage can compensate the slow dynamics of lower stage, the tracked robot which is inevitably heavy due to its composition.
中文翻译:
开发双阶段视觉伺服摄影机器人
本文介绍了用于摄影应用中的多莉和卡车式相机运动的视觉伺服摄影机器人的开发。机器人以快速响应滑块作为上级实现,而慢速响应跟踪的机器人本体作为下层实现,以提高目标跟踪性能。开发了一种新的开关控制器,该控制器通过平衡和调整视觉误差的权重和滑块上级的非对中误差来控制平台的运动,从而实现了比传统的主从控制策略更好的跟踪性能。进行了仿真以评估模型的跟踪性能,特别是侧重于评估双阶段如何改善模型的整体响应。类似的评估也通过实验进行。