2A2-H05 アクティブカメラ懸垂用パラレルワイヤ機構の設計と制御(ワイヤ駆動系の機構と制御)

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  • 2A2-H05 Design and Control of Parallel Wire Suspended Mechanism for an Active Camera

説明

Parallel wire driven mechanism realizes a positioning mechanism with very simple mechanism using multiple wires. The suspended object by the mechanism can be moved freely in large workspace. We propose an active camera system using the parallel wire mechanism. A pan-tilt camera suspended by the parallel wire mechanism is used to track some moving objects such as a human body and a human face. Three wires or four wires are used for positioning the active camera in three dimensional space. In this study, design of the parallel wire mechanism is discussed and control method for the mechanism is presented. Especially, difference of three wires' mechanism and four wires' mechanism are discussed in the view point of moving ability of the suspended camera. Motion control example for the two mechanisms are presented to show the ability.

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