Pose alignment control of robot using polygonal approximated gripper images

다각 근사화된 그리퍼 영상을 이용한 로봇의 위치 정렬

  • 박광호 (전남대 기계공학과 대학원) ;
  • 김남성 (전남대 기계공학과 대학원) ;
  • 기석호 (서강정보대 소방관리학과) ;
  • 기창두 (전남대 기계공학과)
  • Published : 2000.11.02

Abstract

In this paper we describe a method for aligning a robot gripper using image information. The region of gripper is represented from HSI color model that has major advantage of brightness independence. In order to extract the feature points for vision based position control, we find the corners of gripper shape using polygonal approximation method which determines the segment size and curvature of each points. We apply the vision based scheme to the task of alignment of gripper to reach the desired position by 2 RGB cameras. Experiments are carried out to exhibit the effectiveness of vision based control using feature points from polygonal approximation of gripper.

Keywords