Visual Servoing Approaches Based On Parallel Mechanism

In order to achieve long-distance alignment of the scalable platform, with the support of the National SG III project, one Diagnostic Instrument Manipulator(DIM) with full functionality is developed. In this paper, the key technology of image processing is deeply investigated, the application analysis on visual servoing based on the DIM is done, and a new approach for alignment is proposed. The program code of visual servoing in prototype system is written, and the operational procedures is developed. The main research contents are as follows:Firstly, on the basis analysis of DIM's system, using the differential relationship of the robot and close-loop vectors of a parallel mechanism, the inverse kinematics model for the pose analysis of the end actuator has been formulated. The control system and the hardware and software of the visual servo system are presented.Secondly, technology of joint measurement with one rough alignment camera and two precise alignment cameras was proposed, the algorithm based on local entropy difference and comprehensive precise matching criterion was designed to improve the accuracy and speed of the template matching algorithm.Thirdly, considering the traditional visual servo methods'application on the parallel mechanism, the details of the servoing process is presented. The alignment based on manual is proposed, its implementation steps, advantages and disadvantages are researched.Finally, with the strategies and algorithms of the visual servoing built, the preparation of the software process and operating Instructions is presented.