This code is described in "Computational Geometry in C" (Second Edition),
Chapter 8. It is not written to be comprehensible without the
explanation in that book.
Prints out one arm configuration to reach given target.
Assumes number of links >= 3.
Input:
nlinks Number of links
L1 L2 ... Ln Link lengths
x0 y0 target0
x1 x2 target1
看n2實(shí)例 #Create a simulator object
set ns [new Simulator]
#Define different colors for data flows
#$ns color 1 Blue
#$ns color 2 Red
#Open the nam trace file
set nf [open out-1.nam w]
$ns namtrace-all $nf
set f0 [open out0.tr w]
set f1 [open out1.tr w]
#Define a finish procedure
proc finish {} {
global ns nf
$ns flush-trace
#Close the trace file
close $nf
#Execute nam on the trace file
exit 0
}
#Create four nodes
set n0 [$ns node]
set n1 [$ns node]
set n2 [$ns node]
set n3 [$ns node]
#Create links between the nodes
$ns duplex-link $n0 $n2 1Mb 10ms
Versatile visual servoing without knowledge of true jacobian.pdf cobian matrix estimator.
The Jacobian matrix estimator does not need a priori
knowledge of the kinematic structure and parameters
of the robot system, such as camera and link parameters.
The proposed visual servoing control scheme ensures
the convergence of the image-features to desired
trajectories, by using the estimated Jacobian matrix,
which is proved by the Lyapunov stability theory. To
show the effectiveness of the proposed scheme, simulation
and experimental results are presented.
a sample WDM stream class video capture driver that supports two IEEE 1394 digital cameras.
The same driver may be able to support other digital cameras that conform to 1394-based Digital Camera Specification from 1394 Trade Association.
Digital camera supported by dcam.sys is a data source that produces digital image data without any other input connection. It manifests itself in a DirectShow graph as a WDM Streaming Capture Device and as a capture filter that has output capture stream supporting image sizes of 320x240 with a UYVY color space. Its de-compressor, Msyuv.dll, is part of the OS delivery, and it can convert image data format from UYVY to RGB16, RGB8, or to a Direct Draw surface if the video card supports UYVY format.
