基于三维视觉的软体机器人实时定位与控制

张弘,张学成,王国强,顾潘龙,江楠

Real-time positioning and control of soft robot based on three-dimensional vision

Hong ZHANG,Xuecheng ZHANG,Guoqiang WANG,Panlong GU,Nan JIANG

表 6 拟合坐标值与真实坐标值的对比

Tab.6 Comparison of fitted coordinates and true coordinates

组别 真实坐标/mm 拟合中心点平均坐标/mm 方差/mm 2 (2.5, −3, 470.4) (2.43, −2.41, 470.68) 0.65 3 (−10, −5, 440.4) (−10.61, −5.30, 440.24) 0.70 4 (1.5, −4.5, 471.2) (2.53, −3.93, 471.66) 1.26 5 (−15.4, −3.2, 456) (−14.79, −3.44, 455.27) 0.98 6 (2.6, −3.5, 469.8) (2.43, −3.93, 471.66) 1.92 7 (−15, −5, 458.4) (−16.01, −3.61, 458.05) 1.75 8 (2.8, −1.8, 469.7) (2.93, −2.41, 470.68) 1.16 9 (4, −3.5, 439.3) (4.44, −3.51, 439.24) 0.45 10 (−9.3, −5.3, 441) (−10.11, −5.30, 440.24) 1.11