An active binocular vision head, its kinematic analysis and derivation of equations of motion

Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper presents a simplistic binocular robotic head architecture and a thorough analysis of its rigid body dynamics and kinematic models. A kinematic mathematical model for online computations of desired joint angle trajectories in object centroid tracking and fixation is presented. The efficacy and the characteristics of the models derived are illustrated using dynamic computer simulations with a controller using computed torque method.

Original languageEnglish
Pages (from-to)754-765
Number of pages12
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume46
Issue number2
DOIs
Publication statusPublished - Jun 1 2003
Externally publishedYes

Keywords

  • Active vision
  • Binocular tracking
  • Dynamic model
  • Kinematic model

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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