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Purpose The purpose of this paper is to propose a new video prediction-based methodology to solve the manufactural occlusion problem, which causes the loss of input images and uncertain controller parameters for the robot visual servo control. Design/methodology/approach This paper has put forward a method that can simultaneously generate images and controller parameter increments. Then, this paper also introduced target segmentation and designed a new comprehensive loss. Finally, this paper combines offline training to generate images and online training to generate controller parameter increments. Findings The data set experiments to prove that this method is better than the other four methods, and it can better restore the occluded situation of the human body in six manufactural scenarios. The simulation experiment proves that it can simultaneously generate image and controller parameter variations to improve the position accuracy of tracking under occlusions in manufacture. Originality/value The proposed method can effectively solve the occlusion problem in visual servo control.

Abstract. Bicycle kinematics with toroidal wheels is presented in this paper. Using symbolic mathematic tool Maple, we obtain two holonomic and four nonholonomic constraint equations due to front and rear wheels of a bicycle. We show that the two holonomic constraints cannot be expressed in quartic form for bicycle rear body pitch angle unless the minor (crown) radius of the torus are the same for both the front and rear wheels. In addition, we show that all the constraints can be written in differential form, from which a constraint matrix is constructed, according to standard procedure for developing dynamics in robotics.