曲线跟踪是在视觉引导下机器人运动控制的一种典型应用。该文介绍了一种实用的视觉引导机器人曲线跟踪系统。在该系统中,机器人可以在视觉系统的引导下跟踪平面上的任意曲线。视觉系统能够完成自动标定、自动识别曲线、跟踪控制等功能。该系统具有算法简单,实用性和稳定性强等特点,其跟踪速度和精度都在实验中取得了较为满意的结果。 Curve tracking is a typical application of vision-guided robot motion control. This paper introduces a practical visual guidance robot curve tracking system. In this system, the robot can track any curve on the plane under the guidance of the vision system. Vision system to complete automatic calibration, automatic identification curve, tracking control and other functions. The system has the characteristics of simple algorithm, strong practicability and stability, and its tracking speed and accuracy have achieved satisfactory results in the experiment.