Study Of Control Method On Binocular Active Visual Monitoring Platform

Parallel robot has merits such as high mechanical stiffness, high precision, high load capacity and wide application prospect etc. Parallel robot is a hot research topic in current domain of robot .In order to improve its active recognizing ability, with unifying the vision technology and the parallel robot technology ,we build a binocular active visual monitoring platform(BAVMP) based on circular guide rail. With significant theory importance and technology value about BAVMP, this project is supported by the National High-Tech. R&D Program for CIMS, China (No. 2006AA04Z212). In this paper, we analyze and study the control system of BAVMP.Firstly, mechanical structure and control system of BAVMP was introduced. This open control model based on IPC platform has features of strong currency and good expansibility. Hardware structure of the control system is simple, so that this system has high reliability.Secondly, this paper makes close analysis on servo motion control system based on PC and motion control card. PC is responsible for the man-machine interface management and real-time monitoring of control system. The motion controller completes all details of the motion control. The Scheme has the advantages of powerful information processing capability, high openness and precise motion path. The servo driver interior integrated the PID algorithm. In order to safeguard motor's steady movement, need to make the gain control according to motor load characteristics.Thirdly, rotational station controller was designed and the digital camera's image gathering technology was introduced. The control procedure of rotational station and camera were developed in windows Environment.Finally, the obstacle avoidance method on BAVMP was studied. Between the camera and the machining position of the parallel robot ,there are some obstacles frequently. In order to avoid the camera's observing line to be covered, a method which can solve the obstacle area on motion space of the cameras is proposed. The determination of obstacle area establishes the basis of path planning of the cameras.