로봇 비젼 제어기법에 사용된 카메라의 최적 배치에 대한 실험적 연구

다국어 초록 (Multilingual Abstract)

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.

참고문헌 (Reference)

1 장완식, "비젼 제어시스템에 사용된 카메라의 최적개수에 대한 실험적 연구" 한국생산제조시스템학회 13 (13): 94-103, 2004

2 Kumaresan, S. S, "aHand-Eye Coordination of A Robot Manipulator Based on Fuzzy Logic" 3 : 221-225, 1994

3 Smith, P. W, "Vision Based Manipulation of Non Rigid Objects" 3191-3196, 1996

4 Kelly, R, "Stable Visual servoing of camera-inhand robotics systems" 5 (5): 39-48, 2000

5 Masaki, I, "Method and Apparatus for Manipulator Welding Apparatus with Vision Correction for Workpiece Sensing"

6 John J. C, "Introduction to Robotics mechanics and control" Addison-Wesley 84-, 1989

7 Tani, K, "High Precision Manipulator with Visual Sense" 19-21, 1977

8 Goncalves, P. J, "Dynamic Visual Servoing of Robotic Manipulators" 560-565, 2003

9 Junkins, J. L, "An Introduction to Optimal Estimation of Dynamical Systems"

10 Jang, W. S, "A study on the effectiveness of vision system Varying with location of Camera" 21-22, 2008