Visual Servoing Approaches Based on Parallel Mechanism
|School||Huazhong University of Science and Technology|
|Course||Mechanical and Electronic Engineering|
|Keywords||Visual servo Parallel mechanism Image processing Template matching Bull's-eye positioning|
In order to achieve scalable support platform for long-distance aligned countries \From the carrying platform institutional characteristics and visual servo systematic requirements , the paper , the kinematics equations , the image algorithm as well as the visual servo strategy . The article in-depth study of key technology of image processing application , and position - based visual servo and image-based visual servo technology application in parallel mechanism , and proposed alignment method based on artificial intervention . Design a prototype system and related program code , and the development of operational procedures . The main content of this paper is as follows: First, the platform functional profiling of parallel mechanism input output differential to establish the mathematical model of the output of a two-degree-of-freedom parallel mechanism pose error inverse solution . The basic platform of hardware and software of the control system and visual system analysis . Secondly, the joint vision measurement technology for \template matching algorithm , the pixel-level template matching at the same time to meet the requirements of high precision and high speed . Calculus were two bull's-eye location algorithm . And then , based on the traditional visual servo parallel mechanism , a detailed analysis of location-based visual servo strategy and image-based visual servo strategy implementation steps , and made a visual alignment method based on human intervention , a detailed analysis of the mechanism of its realization and the advantages and disadvantages . Finally, based on the analysis of visual servo strategy and algorithm , given a specific software development, processes, and operating instructions .