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장완식,신광수,백은석 조선대학교 생산기술연구소 1996 生産技術硏究 Vol.18 No.1
This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end effecters of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameter estimated by the iteration method. The method is tested experimentally with three-axis manipulator in two ways; a) the estimation model test, b) a three-dimensional point placement task. These results show that control scheme used is precise and robust.