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

  • 제26권1호
  • /
  • Pages.50-58
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  • 2017
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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얇은 막대 배치작업을 위한 최적의 가중치 행렬을 사용한 실시간 로봇 비젼 제어기법

Real-time Robotic Vision Control Scheme Using Optimal Weighting Matrix for Slender Bar Placement Task

  • Jang, Min Woo (Department of mechanical Engineering, Chosun University) ;
  • Kim, Jae Myung (Department of mechanical Engineering, Chosun University) ;
  • Jang, Wan Shik (Department of mechanical Engineering, Chosun University)
  • 투고 : 2016.08.08
  • 심사 : 2017.01.02
  • 발행 : 2017.02.15
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초록

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

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참고문헌

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  8. Jang, M. W., Jang, W. S., Hong, S. M., 2016, A Study on the Development of Robot Vision Control Scheme Based on N-R Method in the uncertainty of circumstance, KSME, 40:3 305-315.
  9. Hong, S. M., Jang, W. S., Kim, J. M., 2015, Evaluation of Robot Vision Control Scheme Based on EKF Method for Slender Bar Placement in the Appearance of Obstacles, KSPE, 32:5 471-481. https://doi.org/10.7736/KSPE.2015.32.5.471
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피인용 문헌

  1. 이동타겟 추적을 위한 데이터이동법을 이용한 로봇비젼 제어기법 개발 vol.35, pp.7, 2017, https://doi.org/10.7736/kspe.2018.35.7.669