Visual servo control system of 2-DOF parallel robot

Abstract

This paper establishes a parallel manipulator visual servo control system. With the study object of 2-DOF redundant parallel manipulator and the monocular industrial camera as the vision sensor, a real-time detection system is realized, it provides the movement parameters and trajectory ofthe parallel manipulator, and feedback the information to the host computer and convert them to the corresponding parameters of compensation, so as to realize the visual servo control of parallel manipulator and allow the manipulator to be able to complete the trajectory drawing rapidly and accurately. In this paper, the gate centroid tracking algorithm is used to track the moving platform of the parallel manipulator and the description of the motion trajectory can meet the demands of parameters of servo control. The test proves that this method can rapidly and accurately carry out parallel manipulator visual servo control and validates the feasibility of this system. © Springer-Verlag Berlin Heidelberg 2012.