Kinematic Characteristics of Robot Camera Stabilization Platform: Assembly, Operating Modes, and Singularity Analysis

Abstract

The paper presents the development and detailed kinematic analysis of a robot camera stabilization platform designed based on the principles of a spherical parallel mechanism. The study is aimed at forming a mathematical model that allows one to determine the assembly and operating modes of the device, as well as to identify critical singular states that affect the dynamic stability of the platform. The use of direct and inverse kinematics methods allows one to establish the relationship between the values ​​of active drive variables and the final orientation of the movable part on which the camera is mounted. The results of the analysis show that the optimized geometry of the mechanism provides a working space limited by only six singular curves, which minimizes the risk of unintentional transition between operating modes. Experimental modeling, confirmed by numerical calculations, demonstrates high rigidity and stability of the platform even under dynamic loads, which allows its use in video surveillance systems, robotic shooting and other areas where precise optical stabilization is required. Further research will be aimed at developing adaptive control algorithms to improve dynamic accuracy.