Development of Robot Bionic Eye with Spherical Parallel Manipulator Based on Oculomotor Control Model

Vision System is important for autonomous robot. In this paper, a robot bionic vision system, which has the function of the human eye movements, is developed to solve the problem of vision instability during robot working. Firstly, according to the eyeball structure and eye movement characteristics, the mechanism of the bionic eye with three degree of freedom (DOF) is designed by using a spherical parallel manipulator. Because it will be applied in a rough environment, natural frequency of vibration and the maximum deformation of the bionic eye mechanism is gained based on finite-element method(FEM). Then, the control system of the bionic vision is established based on a oculomotor control model, which can compensate the visual error caused by the dynamic changes of the robot attitude and tracking target position. In addition, a bionic vision embedded system with a standard video data interface is developed. Finally, some simulation and physical robot experiments are conducted in harsh environments, and the test results confirm the effectiveness of this bionic vision system. It is also shown that the controller based on oculomotor control model is robust even with external disturbance. Streszczenie. Przedstawiono bioniczny system spełniający funkcję ludzkiego oka. Sztuczne oko porusza się w przestrzeni trójwymiarowej w uwzględnieniem możliwych wibracji. System sterowania może kompensować błędy wynikające z ruchu robota. Przedstqwiono wyniki eksperymentalnego badania w trudnych warunkach pracy. (Sztuczne oko z równoległym sferycznym manipulatorem bazującym na mechniazmie typu oculomotor).