Real time hand-eye system: interaction with moving objects

The paper presents the results in controlling the robot manipulator handling the moving object of various types. Two series of experiments were carried out using the rod swinging on the bifilar suspension, and the tennis balls swinging as spherical pendulums. The main part of the experiments with the rod was devoted to finding efficient ways for its fast and reliable capturing. The experiments with the ball were focused on modifying the motion of the ball in such a way for its orbit has the desirable parameters. In particular, the ball was directed to reach the motionless target placed inside the working space, or perform a rendezvous with another ball having an independent free motion. The TV camera supplied the computer with the visual data of the scene. The dynamical models of the motion of the objects were used for statistical processing the visual data and determining the parameters of the motion. These parameters were used for controlling the robot.