Abstract
Image deteriorations due to vibrations have become a problem in autonomous systems such as unmanned aerial vehicles, robots, and autonomous cars. To suppress the vibration, a camera stabilizer using a gimbal mechanism is widely used. However, the size and weight of the system increase because the conventional image stabilization systems require some actuators and links to drive in multi-axes. In order to solve these problems, we proposed a novel three-degree-of-freedom (3DOF) electromagnetic actuator for image stabilization. The actuator can be driven by only three-phase and has a simple structure and control system. This paper describes the experimental verification of the proposed actuator. The torque characteristics are clarified, and the analysis and measured torque characteristics are compared to verify the analysis validity. For verifying the dynamic performance, the frequency characteristics are measured. The effectiveness of the proposed magnetic structure and operating principle are investigated.
Highlights
Environment recognition is an important task for autonomous mobile systems such as unmanned aerial vehicles (UAVs), walking robots, and autonomous cars
A camera system using the 3DOF actuator can be expected to have a small image stabilization system compared with conventional systems
The measured torque characteristics in the X-axis and Z-axis are shown in Figures 14 and 15
Summary
Environment recognition is an important task for autonomous mobile systems such as unmanned aerial vehicles (UAVs), walking robots, and autonomous cars. To suppress the image deterioration from the multi-DOF vibration, a camera using a gimbal mechanism is valid [4,5,6]. The image stabilizer using a gimbal mechanism is widely used and applied to the UAVs (e.g., Phantom 4, DJI Corp., Shenzhen, China) and video cameras for consumers (e.g., CRANE 3S, Zhiyun Corp., Guilin, China). These systems consist of some rotary motors and links to rotate in 3DOF. A camera system using the 3DOF actuator can be expected to have a small image stabilization system compared with conventional systems
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