Curve tracking and reproduction by a robot with a vision system

Abstract

Curve tracking and reproduction by a robot with a vision system have broad application in industry. This article describes tracking control using the orthogonal decomposition control method. The data recorded in the tracking procedure are pre-processed by the Kalman filtering algorithm. Thus, tracking and reproduction of any kinds of regular and irregular smooth curves with a high speed and a high accuracy are achieved. ©1999 John Wiley & Sons, Inc.