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박성태(S. T. Park),이민칠(M. C. Lee) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of boject grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better. but if it is overly many, the robot have to processe many data. it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator. and then it can grip the object successfully.