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A Study on the Development of a Robot Vision Control Scheme Based on the Newton-Raphson Method for the Uncertainty of Circumstance

불확실한 환경에서 N-R방법을 이용한 로봇 비젼 제어기법 개발에 대한 연구

  • 장민우 (조선대학교 기계공학과) ;
  • 장완식 (조선대학교 기계공학과) ;
  • 홍성문 (조선대학교 기계공학과)
  • Received : 2015.10.01
  • Accepted : 2016.01.18
  • Published : 2016.03.01

Abstract

This study aims to develop a robot vision control scheme using the Newton-Raphson (N-R) method for the uncertainty of circumstance caused by the appearance of obstacles during robot movement. The vision system model used for this study involves six camera parameters (C1-C6). First, the estimation scheme for the six camera parameters is developed. Then, based on the six estimated parameters for three of the cameras, a scheme for the robot's joint angles is developed for the placement of a slender bar. For the placement of a slender bar for the uncertainty of circumstances, in particular, the discontinuous robot trajectory caused by obstacles is divided into three obstacle regions: the beginning region, middle region, and near-target region. Then, the effects of obstacles while using the proposed robot vision control scheme are investigated in each obstacle region by performing experiments with the placement of the slender bar.

Keywords

N-R Method;Robot Control Scheme;Uncertainty of Circumstance;Slender Bar

Acknowledgement

Supported by : 조선대학교

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