A MINIATURE PAN-TILT ACTUATOR - THE SPHERICAL POINTING MOTOR

被引：35
作者：
BEDERSON, BB
WALLACE, RS
SCHWARTZ, EL
机构：
[1] NYU,COURANT INST MATH SCI,NEW YORK,NY 10012
[2] BOSTON UNIV,BOSTON,MA 02215
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 03期
关键词：
D O I：
10.1109/70.294205
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A pan-tilt mechanism is a computer-controlled actuator designed to point an object such as a camera sensor. For applications in active vision, a pan-tilt mechanism should be accurate, fast, small, inexpensive and have low power requirements. We have designed and constructed a new type of actuator meeting these requirements, which incorporates both pan and tilt into a single, two-degree-of-freedom device. The spherical pointing motor (SPM)1 consists of three orthogonal motor windings in a permanent magnetic field, configured to move a small camera mounted on a gimbal. It is an absolute positioning device and is run open-loop. The SPM is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities of several hundred degrees per second with a repeatability of .15-degrees. We have also built a miniature camera consisting of a single CCD sensor chip and miniature lens assembly that fits on the rotor of this motor. In this paper, we discuss the theory of the SPM, which includes its basic electromagnetic principles, and derive the relationship between applied currents and resultant motor position. We present an automatic calibration procedure and discuss open- and dosed-loop control strategies. Finally, we present the physical characteristics and results of our prototype.
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页码：298 / 308
页数：11
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