Development of an image-based visual servoing for moving target tracking based on bionic spherical parallel mechanism

Abstract

An Image-based visual servo system is presented for a bionic spherical parallel mechanism to minimize a tracking error function to analog smooth pursuit of human eye, which is also called eye-in-hand visual servoing, capable of tracking moving target. More specially, we propose a real-time moving target tracking algorithms which utilizes perceptive image hash based on Discrete Cousin Transform, collaborative in particle filtering framework to achieve automatic moving target detection. In the proposed algorithm, the key geometry position features of the target are extracted to detect and identify the target. Once the target is identified, an image-based control scheme is implemented to drive bionic spherical parallel mechanism such that the identified target is to be tracked at the center of the captured images. Experimental results demonstrate the effectiveness and robustness of our visual servo system for bionic spherical parallel mechanism.

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

“…Its end effector can rotate freely around the point. The SPM has important application value and has been widely used, such as the azimuth tracking system [1] , the bionic robot [2] , surgical robot [3] , and the medical device [4] .The research about SPM mostly focuses on 2DOF SPM [5] and 3DOF SPM [6] . The theoretical research and practical application of 3DOF SPM are quite mature.…”