抄録
A vision system which is mounted on an unmanned mobile robot has been developed. The vision stabilization system consists of a wireless camera, 3 BLDC motors and drivers, AHRS (attitude and heading reference system), a Bluetooth communication module, a DSP controller, vibration isolation rubber mounts, a monitoring system and a joystick. To develop this system, 3D CAD geometric modeler, Pro-Engineer has been utilized for mechanism design. For required motor torque analysis, inverse dynamic analysis has been carried out using ADAMS multibody dynamics code. A stabilization algorithm has been developed based on kinematic constraint conditions of the camera coordinates. In order to stabilize vision camera, PID controller algorithm has been implemented into the DSP controller. To verify the performance and design of the vision stabilization system, the system has been tested using a motion platform which generates motion that represents an unmanned mobile robot motion. Stable camera images have been obtained.
