A FOUR DEGREE-OF-FREEDOM ROBOT HEAD FOR ACTIVE VISION

The design of a robot head for active computer vision tasks is described. The stereo head/eye platform uses a common elevation configuration and has four degree-of-freedom. The joints are driven by DC servo motors coupled with incremental optical encoders and backlash minimizing gearboxes. The details of mechanical design, head controller design, the architecture of the system, and the design criteria for various specifications are presented.