An Active Binocular Vision Head, Its Kinematic Analysis and Derivation of Equations of Motion

Sisil KUMARAWADU; Keigo WATANABE; Kazuo KIGUCHI; Kiyotaka IZUMI

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An Active Binocular Vision Head, Its Kinematic Analysis and Derivation of Equations of Motion

机译：主动双目视觉头，其运动学分析和运动方程式的推导

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摘要

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.

机译：本文提出了一种简单的双目机器人头结构，并对其刚体动力学和运动学模型进行了全面分析。提出了一种运动数学模型，用于在目标质心跟踪和固定中在线计算所需的关节角度轨迹。通过动态计算机仿真和使用计算扭矩方法的控制器对所推导模型的功效和特性进行了说明。

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《JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing》 |2003年第2期|p.754-765|共12页
作者
Sisil KUMARAWADU; Keigo WATANABE; Kazuo KIGUCHI; Kiyotaka IZUMI;
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作者单位

Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan;

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原文格式 PDF
正文语种 eng
中图分类机械、仪表工业;机械学（机械设计基础理论）;
关键词
active vision; binocular tracking; dynamic model; kinematic model;

机译：主动视觉;双目跟踪;动力学模型;运动学模型;

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1. An Active Binocular Vision Head, Its Kinematic Analysis and Derivation of Equations of Motion [J] . Sisil KUMARAWADU, Keigo WATANABE, Kazuo KIGUCHI, JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing . 2003,第2期

机译：主动双目视觉头，其运动学分析和运动方程的推导
2. Kinematic Analysis and Derivation of Equations of Motion of Mechanisms with Loops of Different Motion Spaces (1st Report, Theoretical Analysis) [J] . Koichi SUGIMOTO 日本機械学会論文集. C編 . 2000,第641期

机译：运动环具有不同运动空间的机构的运动方程的运动学分析和推导（第一份报告，理论分析）
3. Kinematic Analysis and Derivation of Equations of Motion of Mechanisms with Loops of Different Motion Spaces (1st Report, Theoretical Analysis) [J] . Koichi SUGIMOTO 日本機械学会論文集. C編 . 2000,第641期

机译：运动空间不同的具有环的机构的运动方程的运动学分析和推导（第一份报告，理论分析）
4. Kinematic calibration of a binocular head using stereo vision with the complete and parametrically continuous model [C] . Sheng-Wen Shih, Institute of Information Science, National Taiwan Univ., Conference on intelligent robots and computer vision: Algorithms, techniques, and active vision . 1992

机译：使用立体视觉和完整且参数连续的模型对双目头进行运动学校准
5. Development of an accelerometer based motion analysis system for measurement of head and jaw kinematics during rear-impact. [D] . Ikram, Isaac Nasir. 2004

机译：基于加速度计的运动分析系统的开发，用于在后碰撞过程中测量头部和下颌的运动学。
6. Autonomous Development of Active Binocular and Motion Vision Through Active Efficient Coding [O] . Alexander Lelais, Jonas Mahn, Vikram Narayan, 2019

机译：通过主动有效编码自主开发主动双目和运动视觉
7. The coordinate system transformation of a serial kinematic structures and use in the derivation of systems motion equations [O] . Zátopek Jiří 2017

机译：一系列运动结构的坐标系转换及其在系统运动方程式推导中的应用

An Active Binocular Vision Head, Its Kinematic Analysis and Derivation of Equations of Motion

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