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장완식,백은석 한국공작기계학회 1997 한국생산제조학회지 Vol.6 No.2
This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. 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 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways ; First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.