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센서 통합 능력을 갖는 다중 로보트 제어 시스템의 개발
서일홍,현웅근,김태원,여희주,김재옥,윤승중 한양대학교 공학기술연구소 1992 공학기술논문집 Vol.1 No.1
A multi-robot controller is designed, where the system allows multiple robots to be controlled simultaneously up to a total of 12 axis. Especially, the control system is designed to be capable of collision avoidance and coordination of multiple robots. And to effectively handle environmental conditions, the control system is designed to be able to integrate the external sensors such as vision, encoder, and force sensors. Also, a set of programming primitives, which permit a programmer to specify coordination tasks, are proposed and discussed.
Scale Factor들을 고려한 투시 변환 매트릭스에 의한 카메라 캘리브레이션 방법
서일홍,김태원,여희주,김재현,이찬호 한양대학교 공학기술연구소 1993 공학기술논문집 Vol.2 No.1
A novel Camera Calibration Method is proposed by employing the perspective transformation matrix with scale factors for the accurate Robot Vision System, where the calibrated scale factors are horizontal scale factor, computer image center coordinate, and camera lens distortion coefficient. By using those factors, the image coordinate with distortion in computer frame grabber is transformed to the undistorted coordinate, in which calibration is performed. To show the validities of the proposed method, several experimental results are illustrated with comparison of the other calibration methods.