パラレル機構の冗長性を活かすアクティブビジョンの開発

抄録

This paper introduces an active vision system using a parallel mechanism. Basically, active vision systems are kinds of intelligent machines using vision sensors and they track targets on screens. They are utilized as shape recognotion apparatuses, shape inspection systems, and vision systems of mobile robots, for example. Most of active vision have adopted serial link manipulators so far. They have ability to move in wide space but they need large space when they change thier orientation. Meanwhile, the active visions using parallel mechanisms have merits that they can change their orientations with small motions and position errors of active vision are averagely distributed to thier all links. Furthermore, the active vision systems have redundant degrees of freedoms relative to the degrees of freedoms on screens. This paper presents a control technique making use of the redundancy. In particular, the presented control system performs to track a target point in three cases of basic control, translation control, and orientation control. And finally, the experimental results are shown in order to evaluate the prestnted technique.