| 摘要 |
FIELD: physics.SUBSTANCE: method for automatic guidance of a television camera mounted on an underwater vehicle while allowing change in the spatial orientation of its optical axis relative to the housing of said underwater vehicle and points of mounting a multilink manipulator thereto, wherein the position of the middle point of the gripper of the manipulator in an associated coordinate system is continuously determined, wherein the method includes transmitting, to two drives which provide angular displacement of the television camera on two of its degrees of freedom, control signals which are proportional to the angular displacement of a vector which coincides with the optical axis of the television camera and which defines the current position of the middle point of the gripper of the manipulator relative to the point of mounting the camera to said underwater vehicle, from the initial position of the optical axis of the television camera, which enable to guide the optical axis of the television camera to the middle point of the gripper of the manipulator during operation thereof, wherein the position of the middle point of the gripper of the manipulator in space is determined by analytical expressions which determine the solution of the inverse kinematic problem for the used manipulator.EFFECT: facilitating automatic guidance of the longitudinal axis of a television camera mounted on an underwater vehicle to the middle point of the gripper of a manipulator.2 dwg |
