最远距离命中移动靶心的自主连续体机器人——世界纪录介绍  

Introduction to the World Record of the Autonomous Continuum Robot that Hits the Moving Target Center for the Longest Distance

作　　者：李飞[1] 马鹏菲 杨浩[1] 杨朝中 彭海军[1] Li Fei;Ma Pengfei;Yang Hao;Yang Chaozhong;Peng Haijun(School of Mechanics and Aerospace Engineering,Dalian University of Technology,the State Key Laboratory of Structural Analysis,Optimization and CAE Software for Industrial Equipment,Dalian 116024,China)

机构地区：[1]大连理工大学、力学与航空航天学院、工业装备结构分析优化与CAE软件全国重点实验室,大连116024

出　　处：《动力学与控制学报》2024年第3期93-94,共2页Journal of Dynamics and Control

基　　金：国家自然科学基金(12202091);中国博士后科学基金(2022M710586,2022TQ0052)资助项目。

摘　　要：针对连续体机器人利用视觉感知实现对外部目标瞄准跟踪控制问题,大连理工大学彭海军教授团队设计研发了一款基于视觉伺服的自主连续体机器人.经世界记录认证(WRCA)官方现场严格测试,该机器人被认定为“最远距离命中移动靶心的自主连续体机器人”,最远有效跟踪距离为30.129米.To solve the control problem of continuum robot for aiming and tracking the external target with visual perception,a visual servoing based autonomous continuum robot has been designed and developed by Professor Peng Haijun’s team from Dalian University of Technology.It has been recognized as the autonomous continuum robot that hits the moving target center for the longest distance after strict on-site certification by the World Record Certification(WRCA);the longest tracking distance is 30.129 m.

关 键 词：连续体机器人 动态目标跟踪 远距离 视觉伺服 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]