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

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on the Robot Vision Control Schemes of N-R and EKF Methods for Tracking the Moving Targets

이동 타겟 추적을 위한 N-R과 EKF방법의 로봇비젼제어기법에 관한 연구

  • Received : 2014.04.11
  • Accepted : 2014.09.11
  • Published : 2014.10.15
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Abstract

This paper presents the robot vision control schemes based on the Newton-Raphson (N-R) and the Extended Kalman Filter (EKF) methods for the tracking of moving targets. The vision system model used in this study involves the six camera parameters. The difference is that refers to the uncertainty of the camera's orientation and focal length, and refers to the unknown relative position between the camera and the robot. Both N-R and EKF methods are employed towards the estimation of the six camera parameters. Based on the these six parameters estimated using three cameras, the robot's joint angles are computed with respect to the moving targets, using both N-R and EKF methods. The two robot vision control schemes are tested by tracking the moving target experimentally. Given the experimental results, the two robot control schemes are compared in order to evaluate their strengths and weaknesses.

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