Abstract
In order to research the effect of eye and neck rotational velocity on tracking accuracy in the process of target tracking of humanoid vision system, an optimal method of angle decomposition was be proposed based on the Jacobi matrix. By establishing mathematical model, the relationship between rotational angular velocity and decomposition angle is proposed. Through simulation and physical experiments, the relationship between angle of decomposition and rotational angular velocity is approximately linear. Compared with the equalization method, with the increase of angle and angular velocity, the time efficiency of method proposed in this paper increases. The work in this article provides basis for control scheme of target tracking for humanoid vision system.
Highlights
Human vision system has the features of high speed, precision and stability in target tracking
This paper proposed a decomposition method for the motion angle, by introducing the rotation speed of the eye and neck joint, to optimize the condition number of Jacobi matrix to build the mathematical model of eye and neck Angle decomposition in the process of coordinate motion, and complete mathematical analysis of the human eye and neck coordinated movement
According to the eye and neck coordination control strategies, this paper proposed an optimized angle decomposition method based on Jacobi matrix when φ
Summary
Human vision system has the features of high speed, precision and stability in target tracking. X.R Li, University of Alborg, Denmark, has proposed a method, which integrated electromagnetic drive spherical robot with three degrees of freedom rotating motion, and developed kinematics and dynamics models [5]. Milad Eyvazi Hesar, Amy Kabir university of technology in Tehran, developed the image of the control architecture for 2 degrees of freedom spherical parallel robot bionic vision through adopting the PID and sliding mode controller [8]. This paper proposed a decomposition method for the motion angle, by introducing the rotation speed of the eye and neck joint, to optimize the condition number of Jacobi matrix to build the mathematical model of eye and neck Angle decomposition in the process of coordinate motion, and complete mathematical analysis of the human eye and neck coordinated movement
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