A Novel Mechanism for Stereo Active Vision

摘要

This paper deals with the mechanical aspects of robot vision and focuses on the design and implementation of a high-performance system. The system is called CeDAR (Cable Drive Active vision Robot). As part of the research at the Robotic Systems Laboratory (RSL) to develop real-world vision systems, CeDAR is designed for speed and accuracy through its novel use of cables in zerobacklash transmissions and a parallel mechanical architecture. By optimising the design for agility, the system is able to a carry a large payload (700g) while achieving its performance specification of five 90 saccades per second with an angular repeatability of 0.01 in all three axes.