Design of a Motion Tracking System Based on Improved Gradient Projection Algorithm for Film and Television Photography Robots
Photography robots are often widely used and developed in film and television production.In order to reduce human on-site intervention and labor costs in shooting scenarios,research is being conducted to intelligently combine robots with camera re-quirements,and design robot motion shooting and trajectory tracking to optimize shooting effects.Research and analyze gradient pro-jection algorithms to improve the robot's local path planning ability,and then design a stable controller based on the robot's turning and sliding motion.Then,according to the calculation process of slip compensation,it is executed on the robot to achieve efficient compensation feedforward of the control system.Finally,a simulation tracking experiment was conducted on the simulated robot using projection gradient algorithm and adaptive sliding mode control.The experimental results showed that the success rate and time of the improved dual covariance Hamiltonian optimization path planning method with 100 nodes were 80.12％and 0.10 seconds,respective-ly,making it the optimal path planning method.The adaptive SMC with slip compensation serves as the optimal stable controller algo-rithm for robot motion tracking systems,with absolute error cumulative values of 7.46％,19.59％,and 17.56％in the motion direc-tion,namely X direction movement,Y direction movement,and steering angle,respectively.This proves that the motion tracking system based on improved gradient projection algorithm and adaptive SMC has high stability,and provides technical support for the development of motion tracking robots.
万方数据
维普
