Research of Control Methods of a Spherical Parallel Mechanism Using Intelligent Data Processing

The work is devoted to the research and development of a software and hardware platform based on control methods of a spherical parallel mechanism (SPM) with tracking of changes in the position of a human head with the help of a camera and a computer using intelligent data processing.This article explores the relevance and advantages of SPMs, emphasizing their high precision, enhanced mobility, reliability, and lightweight design. The paper deals with an important aspect of controlling SPMs, which directly influences their performance. The control methods for SPMs vary based on the specific tasks and operational requirements, such as actuator-based control, sensor-based control, closed-loop control, and adaptive control are presented.The research additionally investigates the problems of forming tasks for SPMs and the need for improved methods, especially for applications involving human-robot interaction, dangerous works, and camera positioning tasks. To resolve these problems, the study proposed a software-hardware platform that remotely controls SPMs by tracking changes in the position of the human head using a camera and a computer. By employing OpenCV and Dilb libraries for face recognition and control point tracking, the proposed platform enables intuitive and clear control of the mechanism.The article presents the mathematical operations involved in calculating the rotation angles of the SPM based on the tracked human head movements. The obtained rotation angles serve as inputs for the servomotors, allowing precise control over the mechanism's movements.The results of the study demonstrate the effectiveness of the proposed software-hardware platform in controlling the SPM based on human head movements. The platform's ability to accurately track and convert head movements into servo rotation values enables remote and intuitive control of the SPM, making it a promising direction for future research in the field of robotics and automation.