Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Camera Modeling for Kinematic Calibration of a Robot Manipulator

로봇 매니퓰레이터의 자세 보정을 위한 카메라 모델링

  • 왕한흥 (현대티타늄(주), 경남 창원시 상남동 66번지) ;
  • 장영희 (KDNS(주)) ;
  • 김종수 (퓨전테크(주)) ;
  • 이종붕 (경남대학교 기계자동화공학부) ;
  • 한성연 (경남대학교 기계자동화공학부)
  • Published : 2002.04.01
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Abstract

This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. radial distortion causes an inward or outward displacement of a given Image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.

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