Active stabilization in robotic vision systems

Abstract

In the article considered prospective approaches to the design of active systems for stabilizing systems based on the parallel kinematics mechanism and possible applications of such systems. Attention is drawn to the fact that not only object fluctuations are an important object for stabilization, but it is also important to compensate for the body vibrations, along with its vibrations. Based on the analysis, it was concluded that it is perspective to use mechanisms with parallel kinematics for the design of active stabilization systems. Was obtained a mathematical model of the hexapod, according to which a computer model in the Simulink package was designed. Its analysis confirmed the possibility of using a mechanism with parallel kinematics in designing an active stabilization system and presented requirements to the actuators of the system.