Wide-Range and Real-Time 3D Tracking of a Moving Object by Dynamic Compensation Based on High-Speed Visual Feedback

抄録

To apply dynamic compensation in increasing productivity and realizing high-speed manipulation and manufacturing, a wide-range 3D tracking system combining a high-speed 3D compensation module (also called a delta robot because of its structure) and a robotic arm is developed. During tracking, the cameras collect 1000 images per second, and the tracked object position in the real-world robotic-arm base coordinate system is calculated using the collected pixel data and camera calibration parameters. Corresponding commands are generated for the robotic arm and delta robot to maintain their positions relative to the tracked object. To generate these commands, encoder feedback from the robotic arm and delta robot is utilized. The cameras provide 1000-Hz visual feedback, and the high-speed compensation module provides 1000-Hz response to movement with high accuracy. The robotic arm achieves this accuracy over a wide range. Successful tracking along the xy-axis is achieved. Even when the object moves faster, the tracking accuracy is high along the x- and z-axes. This study demonstrates the feasibility of using a delta robot to achieve wide-range object tracking, which may contribute to higher-speed manipulation of robotic arms to increase productivity.