基于特征点动态重映射的机械臂视觉伺服实时避障方法

刘俊,朱姿娜,潘雪云,孙晓燕

Real-time obstacle avoidance method via dynamic feature point remapping for robotic arm visual servoing

Jun LIU,Zina ZHU,Xueyun PAN,Xiaoyan SUN

图8 工况2下机械臂末端速度曲线与特征点误差曲线

Fig.8 Curves of robotic arm end-effector velocity and feature point error under condition 2