한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제20권4호
  • /
  • Pages.386-394
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  • 2011
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
권호 표지

불연속적인 궤적에서 로봇 점 배치작업에 사용된 비젼 제어기법의 실용성에 대한 연구

A Study on the Practicality of Vision Control Scheme used for Robot's Point Placement task in Discontinuous Trajectory

  • 손재경 (조선대학교 기계공학과 대학원) ;
  • 장완식 (조선대학교 기계공학과)
  • 투고 : 2010.07.28
  • 심사 : 2011.05.03
  • 발행 : 2011.08.15
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초록

This paper is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models, which are the robot's kinematic model, vision system model, 6-parameters estimation model, and robot's joint angles estimation model. For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. Each obstacle region consists of 3 cases, according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

키워드

참고문헌

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