Huyin Zhang, Wei Dong, Chi Guo, Siran Shu and Wenwei Zuo
Visual servo control, detection, tracking, dual-lens zoom, parallel structure
Currently, visual servoing is increasingly used in daily life. The task of visual servoing is first to capture pose by a mono camera and then to acquire the expected pose by calculating the joints velocities of serial structure. However, the pose obtained in this way is not accurate enough, and there may exist some singular points. Therefore, a visual servo control system that integrates parallel structure with a wide-angle lens and a telephoto lens is proposed. For the visual part, the detection and tracking can be achieved by the wide-angle lens. And to present higher definition images of the target, continuous zoom is realized by the dual lens which can be adjusted according to the distance between the target and the camera. In the servo part, visual servo control is accomplished by the looking-up table and triangle-plane smooth method. Furthermore, the system has been verified by relevant experiments based on a parallel prototype machine. The results show that high-definition images can be obtained by continuous zoom with a dual lens, and the parallel structure model is feasible. Additionally, the control strategy is more accurate and in good robustness as it can reduce measurement errors.
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