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公开(公告)号：US4942538A
公开(公告)日：1990-07-17
申请号：US315260
申请日：1989-02-23
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1689 , G05B19/4182 , G05B2219/39387 , G05B2219/40613 , Y02P90/083
摘要： A telerobotic system adapted for tracking and handling a moving object comprises a robot manipulator, a video monitor, an image processor, hand controls and a computer. The robot manipulator comprises a movable robotic arm having an effector for handling an object, a drive system for moving the arm in response to arm input signals, sensors for sensing the position of the arm and for generating arm output signals which characterize the dynamic motion behavior of the arm, and a vid=eo camera carried by the arm. The camera responds to motion of the moving object within the field of view of the camera. The video monitor receives an input video signal from the video camera, for displaying an image of the object to a human operator. The image processor is responsive to the output signal of the camera, and is capable of acquiring and pre-processing an image of the object on a frame by frame basis. The hand control is capable of generating a hand control output signal in response to input from a human operator. The computer generates arm input signals and is disposed between the hand control means, the robot manipulator, and image processor. The computer receives (i) output signals from the image processor and (ii) the arm output signals and (iii) the hand control output signal and generates arm input signals in response to the received signals whereby the arm tracks the motion of the object.
摘要翻译： 适于跟踪和处理移动物体的远程遥控系统包括机器人操纵器，视频监视器，图像处理器，手控制器和计算机。 机器人操纵器包括具有用于处理物体的执行器的可移动机器人臂，用于响应于臂输入信号移动臂的驱动系统，用于感测臂的位置的传感器和用于产生表征动态运动行为的臂输出信号 的手臂，以及由手臂携带的vid = eo相机。 相机在相机视野内响应移动物体的运动。 视频监视器从视频摄像机接收输入视频信号，用于向人类操作者显示对象的图像。 图像处理器响应于相机的输出信号，并且能够逐帧获取和预处理对象的图像。 手控制能够响应于来自操作者的输入而产生手控输出信号。 计算机生成臂输入信号，并且设置在手控装置，机器人操纵器和图像处理器之间。 计算机接收（i）从图像处理器输出信号，（ii）臂输出信号和（iii）手控输出信号，并响应于接收到的信号产生臂输入信号，由此臂跟踪对象的运动。
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