An active vision motion control based on a parallel architecture using three independent actuators

• Main Author: 賴天寬
• Other Authors: 蕭瑛星
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/31942121242641608000

碩士 === 國立彰化師範大學 === 電機工程學系 === 92 === This thesis proposes an active vision motion control based on a parallel architecture using three independent actuators (PATIA) with three degrees of freedom, low inertia, high stability and high speed. The geometric structures of the PATIA and the motion control algorithms are presented. An iteration method is developed to solve the no only one solution problem in the active motion mode. The presented control relationships between the actuator motion angles and camera view directions are evidenced by the simulation programs. The initial PATIA calibration is performed in this experiment. The PATIA calibration methods are developed and the fundamental PATIA control methods are constructed with vision tracking control and active motion control application. The proposed method is effective in tracking motion for a toy car. The camera view directions are precisely controlled in the active motion mode. The experimental results verify that the proposed control algorithm is effective.