摘要
摄影机器人在运动过程中会产生晃动,导致拍摄画面不符合虚拟演播室的视频标准。为满足虚拟演播室虚景、实景实时合成的要求,提出一种面向摄影机器人的S型加减速控制算法模型。该算法模型能够避免摄影机器人在启停阶段的较大冲击,保证摄影机输出稳定、良好的画面。基于传感器的返回数据,实时调整机器人加速度,在增强系统柔性的同时,减小机器人由于轮胎打滑等因素产生的位移误差,符合虚拟演播室的精度要求。
The camera robot will shake during the movement, resulting in the shooting picture not meeting the video standard of the virtual studio. In order to meet the requirements of real-time synthesis of virtual and real scenes in virtual studios, an S-type acceleration and deceleration control algorithm model for photography robots is proposed. The algorithm model can avoid the large impact of the camera robot during the start and stop stages, and ensure the camera output is stable and good. Based on the return data of the sensor, the acceleration of the robot is adjusted in real time, which enhances the flexibility of the system and reduces the displacement error of the robot due to factors such as tire slippage, which meets the accuracy requirements of the virtual studio.
作者
徐弘毅
徐骏善
黄俊朋
袁堂晓
Xu Hongyi;Xu Junshan;Huang Junpeng;Yuan Tangxiao(School of Mechanical Science and Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China;Lianyungang Screws Robot Technology Co.,Ltd.,Jiangsu Lianyungang,222000,China)
出处
《机械设计与制造工程》
2022年第12期78-83,共6页
Machine Design and Manufacturing Engineering
基金
江苏省研究生科研与实践创新计划项目(KYCX20_0259)。
