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로봇 비젼 제어기법에 사용된 카메라의 최적 배치에 대한 실험적 연구
민관웅,장완식,Min, Kwan-Ung,Jang, Wan-Shik 한국생산제조학회 2010 한국생산제조학회지 Vol.25 No.3
The objective of this study is to investigate the optimal arrangement of cameras used for the robot's vision control scheme. The used robot's vision control scheme involves two estimation models, which are the parameter estimation and robot's joint angle estimation models. In order to perform this study, robot's working region is divided into three work spaces such as left, central and right spaces. Also, cameras are positioned on circular arcs with radius of 1.5m, 2.0m and 2.5m. Seven cameras are placed on each circular arc. For the experiment, nine cases of camera arrangement are selected in each robot's work space, and each case uses three cameras. Six parameters are estimated for each camera using the developed parameter estimation model in order to show the suitability of the vision system model in nine cases of each robot's work space. Finally, the robot's joint angles are estimated using the joint angle estimation model according to the arrangement of cameras for robot's point-position control. Thus, the effect of camera arrangement used for the robot's vision control scheme is shown for robot's point-position control experimentally.
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.