Visual Servo-Based Real-Time Eye Tracking by Delta Robot

This work presents and validates an eye-tracking-based visual system for driving the delta robot. A delta robot is tracked by image processing based on vision servo control. The vision servo program is developed in C++ to perform image processing-based object detection. For image processing, Haar classifier-based methods are used. Finally, image processing and motion controller movements are integrated into one system to perform the visual servo-based motion of the end effector of the delta robot. Experiments are performed to validate the proposed method from the perspective of image processing. Moreover, this paper validates the kinematic analysis, which is vital for obtaining 3D information on the end-effector of the delta robot. The presented model can be implemented in eye clinics to facilitate ophthalmologists by replacing manual eye-checking equipment with automatic, unattended, computerized eye checkups.