Design and Control of a Compact High-Dynamic Camera-Orientation System

作者：Villgrattner Thomas^*; Ulbrich Heinz

来源：IEEE/ASME Transactions on Mechatronics, 2011, 16(2): 221-231.

DOI：10.1109/TMECH.2009.2039223

• Camera orientation
• head camera
• high dynamic
• human eye
• parallel kinematics
• piezoactuator
• robot eye

Theconcept of a small 2-DOF camera-orientation system is presented and verified through prototype testing. This system is able to orient a camera around its pan and tilt axis with dynamics exceeding those of the human eyes. At the same time, the system is lightweight enough to be mounted on a human's head. These characteristics are very important, considering the application as part of a gaze-driven head-mounted camera system and as artificial eye for humanoid robots. The direct and the inverse kinematic models of the system are derived. A dynamic simulation for the actuator selection is carried out as well. The developed prototype is based on a piezoactuator-driven parallel kinematics. Experiments with closed-loop position controllers demonstrate good tracking performance and image quality of the system.

• 出版日期2011-4