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.
|Number of pages||12|
|Journal||JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing|
|Publication status||Published - Jun 2003|
All Science Journal Classification (ASJC) codes
- Mechanical Engineering
- Industrial and Manufacturing Engineering