Determination of a mechanical objects motion on video measurements in robotics problems

The paper describes the methods of determining a motion of a rod swinging on a double-wound suspension. A proper vision system produces measurements for such determining. Each measurement contains coordinates of end points of the rod image in a TV-camera. A sequence of those measurements, accumulated in a few seconds, is processed simultaneously by means of the least squares method and integrating the rod motion equations. Also, the recurring method is considered which processes the measurement data parted in successive portions (the method of dynamic filtration). The paper contains some examples of processing the real measurement data and estimating the accuracy of the motion determination. These methods are intended for the use in a control loop of a robot-manipulator interacting with movable objects.