Research into A Control Schema for Camera Robot Capable of Artistic Creation

摘要

Through the realization of complex trajectory motions and multi-layer material shooting, camera robot can be an important tool for film and television shooting. At present, the trajectory planning of camera robot needs to be plotted in advance by professions, and it has not been easy to adjust on site. In addition, on the actual shooting scene, it's required to adjust running speed of the robot to meet the performance and rhythm of the actors. This paper presents a robot control schema using real-time tracking for unknown trajectories, and real-time stepless speed regulation for existing trajectories. It mainly includes data reading strategies and motion parameter protection algorithms. The response time is within 25 ms. When the real-time target position exceeds the limit of the joint axis servo capability, the robot approaches the target at the maximum speed that can be realized on its own. Furthermore, the schema for tracking functions and speed regulated reproduction have been already realized on the camera robot physical prototype.