基于D-H法的摄影机器人运动学分析

摘要

Taking the camera robot in the virtual studio as the research object,according to the actual needs of the studio or stage,a new analysis method for the end-effector of the camera robot is proposed through the improvement of the D-H method,expanding the end-effector to the entire shooting space,and extracting 3D coordinates from 2D images. According to this method,a new control algorithm is completed. The algo-rithm is solved by MATLAB programming. The algorithm is tested,and its correctness is verified. It meets the special requirements of camera robot.%文章以虚拟演播室用摄影机器人为研究对象,根据演播室或舞台实际需求,通过对D-H法的改进,提出了对于摄影机器人工作末端的新分析方法.将工作末端扩展到整个拍摄空间,从二维图像中提取三维坐标.依据这一分析方法,完成了一种新的控制算法.运用MATLAB编程运算求解,且对这一算法进行了试验,验证了其正确性,满足了摄影机器人使用的特殊要求.