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 language | English |
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Pages (from-to) | 754-765 |
Number of pages | 12 |
Journal | JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing |
Volume | 46 |
Issue number | 2 |
DOIs | |
Publication status | Published - Jun 2003 |
Externally published | Yes |
Keywords
- Active vision
- Binocular tracking
- Dynamic model
- Kinematic model
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering