Abstract
The concept 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 humans 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.
| Original language | English |
|---|---|
| Article number | 5401047 |
| Pages (from-to) | 221-231 |
| Number of pages | 11 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 16 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 2011 |
Keywords
- Camera orientation
- head camera
- high dynamic
- human eye
- parallel kinematics
- piezoactuator
- robot eye