Push-pull actuation mechanisms for robotic vision

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.<
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