Development of self-stabilizing 3-DOF -RRR camera system using fuzzy logic

Gimbal system for surveillance applications are often needed moving camera system. Surveillance camera units mounted on moving vehicles create apparent movement in image plane, which causes difficulties in pointing and tracking of a specific featured object. This paper describes the development and control of the robotic system having 3-revolutionary joints, (RRR/3-R) robotic manipulator platform using orthogonal servo motors, and image based object tracking and camera stabilizing scheme controlled with fuzzy logic to neutralize the movement of object. Stabilizing platform moves in pan-tilt way using orthogonal servos to keep the movable object image in center of image frame. For back tracking of the yaw and pitch angles a MEMS based IMU unit is mounted on camera to analyze the object tracking by monitoring the servo motor angles, that indicates the validity and precision of applied control logic. To compensate the yaw and pitch of the system, two independent fuzzy logic control loop are designed to control the position of pan and tilt servo motor.