Optimization and dynamic simulation of a parallel three degree-of-freedom camera orientation system

Information about a user and his intentions can be gained evaluating images acquired from the user's subjective perspective. A possibility to yield high quality images, even under dynamic conditions, is to align a camera with the human gaze direction. Thus, the camera orientation system must co...

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Bibliographic Details
Main Authors: Villgrattner, T, Ulbrich, H
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Actuators
Cameras
Joints
Kinematics
Mathematical model
Solid modeling
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Description
Summary:Information about a user and his intentions can be gained evaluating images acquired from the user's subjective perspective. A possibility to yield high quality images, even under dynamic conditions, is to align a camera with the human gaze direction. Thus, the camera orientation system must cope with the high dynamic human eye movements. Since the system is intended to be head-mounted it must keep small and light. In this paper a spherical parallel manipulator with three degrees-of-freedom is introduced. Beside the kinematic the dynamic model is derived. Furthermore the workspace/package ratio is optimized. To estimate the needed actuator forces and velocities, kinematic and dynamic simulations are carried out. Simulations and measurements obtained with a prototype are presented. Both, simulations and measurements, demonstrate that the device meets the requirements.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5649720