Experimental study on the model-based control of a 2-degree-of-freedom spherical parallel robot camera stabilizer based on multi-thread programming concept
This article aims at proposing a real-time controller for a camera stabilizer using a 2-degree-of-freedom spherical parallel robot with simultaneous display of the control results using multi-threading programming concept. The main contribution of this article can be regarded as employing (a) a 2-degree-of-freedom spherical parallel robot as a camera stabilizer, (b) introducing approximated model and Jacobian model, and (c) using multi-thread programming in order to create equal conditions for comparing accuracy of designed controllers and simultaneous controlling and running of graphical user interface. The experimental setup consists of a 2-degree-of-freedom spherical parallel robot in which a camera is attached to its end-effector plus a 3-degree-of-freedom passive rotational platform, which provide the possibility to apply random perturbations on the base of the foregoing 2-degree-of-freedom spherical …