Development of a dual-stage and visual-servo filming robot

Abstract

This article presents the development of a visual-servo filming robot for dolly & truck style camera movement in filming applications. The robot was implemented with a fast-response slider as the upper stage on top of the slow-response tracked robot body as the lower stage, to improve target tracking performance. A new switching controller was developed, which controlled the stages’ motions by balancing and adjusting the weights of vision error and slider’s noncentering error of the upper stage, thus achieving tracking performance better than the traditional master–slave control strategy. The simulations were carried out to evaluate the tracking performance of the model, particularly focusing on evaluating how the dual stage improves the overall response of the model. The similar evaluation was executed experimentally as well. Both results confirm that the fast-response characteristics of the upper stage can compensate the slow dynamics of lower stage, the tracked robot which is inevitably heavy due to its composition.

Iterative Parameter Optimization for Multiple Switching Control Applied to a Precision Stage for Microfabrication

“…The results show that the proposed iterative method for multiple switching control is effective in improving the performance of microfabrication systems. The developed iteration parameter optimization method for multiple switching control is a general control technique, and can also be applied to other control systems-such as atomic force microscopes [29,30], air-bearing planar stages [31], and visual-servo systems [32]-to improve system performance.…”

Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

“…After completing the deployment and setting of multi-level 3D fuzzy control nodes, the grid multi-level control matrix is established by integrating the laser radar technology. First of all, use the laser radar technology to check the abnormal positions existing in the road strength process of the patrol robot, and at the same time make positioning marks for each position to form a stable measurement control environment [13]. At the same time, in combination with the path planning requirements and standard changes of the substation patrol robot, a three-dimensional visual holding program is designed, set in the initial matrix, and wave propagation algorithm is added to improve the control structure and improve the accuracy of fuzzy processing [14].…”