한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2001년도 춘계학술대회 논문집
- /
- Pages.590-593
- /
- 2001
- /
- 2005-8446(pISSN)
스테레오 비젼에 기반한 6축 로봇의 위치 결정에 관한 연구
Position Control of Robot Manipulator based on stereo vision system
초록
In this paper we describe the 6-axes robot's position determination using a stereo vision and an image based control method. When use a stereo vision, it need a additional time to compare with mono vision system. So to reduce the time required, we use the stereo vision not image Jacobian matrix estimation but depth estimation. Image based control is not needed the high-precision of camera calibration by using a image Jacobian. The experiment is executed as devide by two part. The first is depth estimation by stereo vision and the second is robot manipulator's positioning.