Design of trajectory optimization and control system for virtual photographic robot based on 6-DOF serial robot
An interdisciplinary topic based on Robotics with computation, optimazation and simulation.
This is an Undergraduate Graduation thesis in Nanjing University of Sci & Tech
For the ever-increasing quality and quantity of programs in the Film and television industry, the emergence of photographic robots can improve shooting efficiency and ensure high shooting accuracy. Among them, the versatile, flexible redundant photography robot is a higher-end industry. This project has developed a new type of orbital redundant photography robot based on a 6-degree-of-freedom series manipulator, which completes the mobile robot with the function of lifting and lowering the camera position and pushing and pulling the camera lens in the studio. The main research contents are as follows:
Firstly, the coordinate system of the redundant photography robot is established, and the forward kinematic transformation matrix is derived by using the improved D-H parameters. At the same time, the Jacobian pseudo-inverse matrix of the photographic robot is solved, and the inverse kinematics numerical solution of the photographic robot is obtained by Newton iteration method. The code was verified in MATLAB. Completed the 3-D and 2-D drawings of the railcar and the camera pan/tilt.
Secondly, the redundant robot hardware system has been designed. The motor and motion control card were selected, and the hardware system connection diagrams of the camera pan/tilt, the railcar and the camera external focus zoom module were drawn.
Finally, the comparison of the polynomial interpolation methods is completed, and the interpolation method of the polynomial degree five is selected based on the smoothing of the joint angular velocity curve. A simulation of the shooting path of the photographic robot was carried out in MATLAB .
Results: This was awarded excellent graduation design in my bachelor university. I got a score of 95 (4.0/4.0) in final.
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