Risley-prism-based visual tracing method for robot guidance.

A visual tracing model based on Risley prisms is proposed in this paper. Combined with the boresight adjusting technology and the visual detection technology, a new visual system is established. Placing Risley prisms in front of the camera, the field of view of the camera can be dynamically adjusted so that the imageable area of this camera is expanded greatly. Two real-time visual tracing strategies for dynamic targets are proposed, which effectively avoid the problems of target loss and tracking instability. The deviations between the reference trajectory generated by the manipulator and the actual trajectory detected by our visual system are measured. Experimental results show that the deviations are less than 1.5% in the 250 mm motion space of the manipulator. It is verified that the visual system can be used to guide robots with high precision, which provides a potential method for robot navigation.