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단안 카메라 기반 3차원 물체 인식 기법 및 6축 머니퓰레이터 경로계획을 이용한 탁구 로봇의 구현
윤재성(Jae-Seong Yoon),곽창희(Chang-Hee Kwak),김영현(Young-Hyeon Kim),김원호(Won-Ho Kim),옥승호(Seung-Ho Ok) 한국정보기술학회 2018 한국정보기술학회논문지 Vol.16 No.8
In this paper, we propose a path planning method of a 6-axis manipulator and a monocular camera-based detecting method of a ball coordinate in 3D space for a table tennis robot. In the path planning, we plan the path by using kinematic analysis and searching minimal joint change. One of two monocular cameras detects the coordinate of the ball and the other estimates hit point by tracking the ball speed and trajectory. In order to measure hit rate of the proposed table tennis robot, we compared the existing model without ball position coordinate calibration system to the proposed model. As a result of the performance evaluation, hit rate of the table tennis robot with the proposed ball position coordinate calibration system is increased to 50% hit rate from the 10% hit rate of the existing model.