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Evaluation of Two Robot Vision Control Algorithms Developed Based on N-R and EKF Methods for Slender Bar Placement

얇은막대 배치작업에 대한 N-R 과 EKF 방법을 이용하여 개발한 로봇 비젼 제어알고리즘의 평가

  • 손재경 (조선대학교 기계공학과) ;
  • 장완식 (조선대학교 기계공학과) ;
  • 홍성문 (조선대학교 기계공학과)
  • Received : 2012.07.11
  • Accepted : 2013.01.02
  • Published : 2013.04.01

Abstract

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

Keywords

Robot Vision Control Algorithm;Newton-Raphson(N-R);Extended Kalman Filtering(EKF);Slender-Bar Placement

Acknowledgement

Supported by : 한국연구재단

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