Affiliations: [a] Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan
Correspondence:
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Corresponding author: Akira Heya, Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0871, Japan. E-mail: akira.heya@ams.eng.osaka-u.ac.jp
Abstract: Space recognition is a crucial issue for autonomous systems such as unmanned aerial vehicles, walking robots, and autonomous cars. These systems are necessary to obtain information using a camera while moving. However, reduction in recognition accuracy and system size increase has created problems. To solve these problems, we proposed the three-degree-of-freedom (DOF) actuator for image stabilization. This paper proposes a novel initial position estimation method and sensorless attitude estimation method for the three-DOF actuator to further downsize and reduce weight. The effectiveness of the proposed methods is verified by a magnetic field analysis, using a three-dimensional finite element method and numerical simulations.
