The invention discloses a service-oriented movable
manipulator system. The hand-eye
coordinated movement of human vision and a movable
manipulator is achieved for the target discovery and orientation of human contact movement and the process that arms approach a target and the target is aimed. The service-oriented movable
manipulator system mainly comprises a head information collecting
system 3, a man-
machine interactive system 8, a movable manipulator
decision control system 9, a human visual special orientation and position
estimation system 10 and the like, wherein the man-
machine interactive system 8 is composed of a picture
signal collecting and
processing module 8a, an electroencephalogram collecting and
processing module 8b, an electro-oculogram collecting and
processing module 8c and a head gesture
signal collecting and processing module 8d. According to the human visual special orientation and position
estimation system 10, the target discovery is formed with the characteristics of eye fixation points, the special orientation and position of a target object are estimated on the basis of electro-oculogram and head motion information, and accordingly
motion planning and
motion control of the movable manipulator are achieved, and the hand-eye
coordinated movement of a
human body and the movable manipulator is achieved.