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N-R과 EKF방법의 로봇비젼제어기법을 활용한 강체배치작업
홍성문(Sung Mun Hong),장완식(Wan Shik Jang),손재경(Jae Kyung Son),김재명(Jae Myung Kim),박득준(Deuk Joon Park) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
This paper is to develop the robot vision control schemes based on Newton-Raphson(N-R) and Extended Kalman filtering(EKF) methods for the rigid body placement task. The N-R vision control scheme consists of vision system model, camera parameters estimation model and robot’s joint angle estimation model. The EKF vision control scheme consists of vision system model, process model and measurement model. In the EKF, the process and the measurement models include the camera parameters estimation model and the robot’s joint angle estimation model, respectively. The vision system model includes six camera internal and external parameters. The N-R scheme is based on iterative technique. Thus, this method requires a lot of processing thime due to large amount of vision data. The EKF scheme is based on recursive technique, but it requires very accurate selection of initial values. Finally, the results of two vision control schemes are compared by performing the rigid body placement task experimentally.