Abstract
This paper focuses on investigating a parallel camera stabilizing manipulator with three angular degrees of freedom controlled by three linear actuators. An experimental setup is designed and manufactured to actively isolate the host vehicle's disturbing motions. The kinematic analysis of the manipulator combined with a controller is used to disturbance rejection coming from the base platform. Two inertia measurement units (IMU) are used for real-time feedback from the base and up-per platforms' orientation. A Kalman filter is implemented for handling the noises and drifts of the IMUs data. Inverse kinematics of the manipulator is used for calculating the actuating commands and velocity control of the linear motors. The experimental results of the proposed camera stabilizing system are shown. The results indicate its good capability in following the reference input of the controller. Considering the closed kinematic chain of the system and its stiff parallel architecture, this system can be a good choice for the stabilizing system of ground and aerial vehicles.
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The related data and algorithms are presented within the manuscript. The codes related to the microcontrollers, data transmission, control, and filtration are available upon request.
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All authors contributed to the conception and design of the study. Dr. Masoud Latifinavid carried out the mechanism's design, kinematic analysis, and control. Dr. Aydin Azizi accomplished Controller design, Filter design, communication, and data analysis. Both authors drafted the initial edition of the article and provided feedback on prior versions of the manuscript. The final article was read and approved by both authors.
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Latifinavid, M., Azizi, A. Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator. J Intell Robot Syst 107, 17 (2023). https://doi.org/10.1007/s10846-022-01795-x
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DOI: https://doi.org/10.1007/s10846-022-01795-x