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One of the problems of machine that arises when carrying loads, is the impact of factors, such as pendulum fluctuations of the load, compression of suspension cables. In conventional manipulators, such as cranes, this is determined by the skill of the operator. This is not possible in fully controlled non-orthogonal manipulators with multiple actuators. To solve these problems, the authors of the article use two stereo cameras, the data from which, through mathematical transformations, is fed into the control system. Using a stereo camera is the simplest way to go from object coordinates in pixels an image, in an actual offset expressed in units of length. |
