Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Implementation of tracking and grasping the moving object using visual feedback

영상궤환을 이용한 이동체의 주적 및 잡기 작업의 구현

  • Kwon, Chul (Dept. of Electronic Engineering, Yonsei University) ;
  • Kang, Hyung-Jin (Dept. of Electronic Engineering, Yonsei University) ;
  • Park, Mig-Non (Dept. of Electronic Engineering, Yonsei University)
  • 권철 (연세대학교 전자공학과) ;
  • 강형진 (연세대학교 전자공학과) ;
  • 박민용 (연세대학교 전자공학과)
  • Published : 1995.11.18
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Abstract

Recently, the vision system has the wide and growing' application field on account of the vast information from that visual mechanism. Especially, in the control field, the vision system has been applied to the industrial robot. In this paper, the object tracking and grasping task is accomplished by the robot vision system with a camera in the robot hand. The camera setting method is proposed to implement that task in a simple way. In spite of the calibration error, the stable grasping task is achieved using the tracking control algorithm based on the vision feature.

Keywords