Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Development of a Visual Servo System in a Mobile Manipulator for Operating Numeral Buttons

이동형 머니퓰레이터의 숫자버튼 조작을 위한 시각제어 시스템 개발

  • 박민규 (부산대학교 지능기계공학과 대학원) ;
  • 이민철 (부산대학교 기계공학) ;
  • 주원동 (부산대학교 지능기계공학과 대학원)
  • Published : 2004.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

A service robot is expected to be useful in indoor environment such as a hotel, a hospital and so on. However, many service robots are driven by wheels so that they cannot climb stairs to move to other floors. If the robot cannot use elevators. In this paper, the mobile manipulator system was developed, which can operate numeral buttons on the operating panel in the elevator. To perform this task, the robot is composed of an image recognition module, an ultrasonic sensor module and a manipulator. The robot can recognize numeral buttons and an end-effector in manipulator by the vision system. The Learning vector quantization (LVQ) algorithm is used to recognize the number on the button. The barcode mark on the end-effector is used to recognize the end-effector. The manipulator can push numeral buttons using informations captured by the vision system. The proposed method is evaluated by experiments.

Keywords

References

  1. Hager, D. and Corke, P. I., 'A Tutorial on Visual Servo Control,' IEEE Transaction on Robotics and Automation, Vol.12, No.5, pp. 651-670, 1996 https://doi.org/10.1109/70.538972
  2. Song, K. T. and Wu, T. Z., 'Visual servo control of a mobile manipulator using one-dimensional windows,' IECON '99 Proceedings, Vol. 2 pp. 686-691, 1999
  3. Luo, R. C. and Chen, T. M., 'Supervisory control of multisentor integrated intelligent autonomous mobile robot via Internet,' Proc. of the 2nd IEEE International Cngerence on Intelligent Processing System, Gold Coast Australia, pp. 12-16, Aug. 1998
  4. Nagatani, K. and Yuta, S., 'Designing a behavior of a mobile robot equipped with a manipulator to open and pass through a door,' Robotics and Autonomous System, Vol. 17, pp. 53-64, 1996 https://doi.org/10.1016/0921-8890(95)00061-5
  5. Gargesha, M. and Panchanathan, S. 'Face detection from color images by iterative thresholding on skin probability maps,' IEEE International Symposium on Circuits and Systems, Vol. 5, pp. 673-676, May 2002 https://doi.org/10.1109/ISCAS.2002.1010793
  6. Sanjay Gopal, S. and Hebert, T. J., 'Maximum likelihood pixel labeling using a spatially variant finite mixture model,' IEEE Transactions on Nuclear Science, Vol. 44 , pp. 1578 - 1582 Aug. 1997 https://doi.org/10.1109/23.632735
  7. Pitas, I., Kotropoulos, C., Nikolaidis, N., Yang, R. and Gabbouj, M., 'Order statistics learning vector quantizer,' IEEE Transactions on Image Processing, Vol. 5, No. 6, pp. 1048-1053, June 1996 https://doi.org/10.1109/83.503919
  8. Burrascano, P., 'Learning vector quantization for the probabilistic neural network,' IEEE Transactions on Neural Networks, Vol. 2, No. 4, pp. 458-461, July 1991 https://doi.org/10.1109/72.88165
  9. Park, M. G. and Lee, M. C. 'Experimental Evaluation of Robot Path Planning by Artificial Potential Field Approach with Simulated Annealing,' SICE2002, pp. 1718-1723, Aug. 2002 https://doi.org/10.1109/SICE.2002.1195739
  10. Lee, B. B., 'Development of Potential-Function Based Motion Control Algorithm for Collision Avoidance Between Multiple Mobile Robots,' Journal of the Korean Society of Precision Engineering Vol. 15, No. 6, pp. 107-115, 1998
  11. Cha, Y. Y. and Gweon, D. G., 'A Local Path Planning Algorithm for Free-Ranging Mobil Robot,' Journal of the Korean Society of Precision Engineering Vol. 11, No. 4, pp. 88-98, 1994