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

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2 Author(s)
Thomas Villgrattner ; Institute of Applied Mechanics , Technische Universität München, D-85748 Garching, Germany ; Heinz Ulbrich

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 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.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:16 ,  Issue: 2 )