Development of an Active Vision System with Redundancy Using Parallel Mechanism

This paper introduces an active vision system that use a parallel mechanism. A vision controller connected to the system obtains position data of the target: The data consists of u and v components. The active vision system has six degrees of freedom, thus making it a redundant system. To establish the technique presented in this paper, We obtain some useful functions making use of the redundancies on the parallel mechanism. For example, an active vision system for manufacturing three-dimensional objects requires contact from various viewpoints. Similarly, a micro-active vision system for semiconductor manufacturing may require to view the wafers from various view points, as well. Other examples may include the observation of helicopters or airplanes in flight. The number of redundancies depends on the degrees of freedom required. Therefore, we developed an active vision system with redundancy using a parallel mechanism. The system presented herein has six degrees of freedom and a vision sensor, and it uses a parallel mechanism, we describe the structure of the system and present the simulation and experimental results of its motion.