Control system of a service robot´s active head exemplified on visual servoing

The article presents approach to active head control system´s development. It describes the system structure including motor drivers with low level position control, as well as high level control mechanisms running on a computer. The formal specification of this system is based on the agent approach. Finally, an exemplary implementation of the active head control system for visual servoing application is presented. Experiments conducted on the system confirm the adequacy of the approach.