Push-pull actuation mechanisms for robotic vision

Abstract

This paper concerns a miniature camera push-pull actuation device and its associated control system, for use in mobile robotic vision applications. By analogy with the eye, a dynamic model is developed using linear convolution algebra. Analysis and simulation is carried out using the concept of characteristic modes. A genetic algorithm is then used to solve the inverse model problem and typical results are presented. The potential of the proposed method is discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>