한국공작기계학회:학술대회논문집 (Proceedings of the Korean Society of Machine Tool Engineers Conference)
- 한국공작기계학회 2002년도 춘계학술대회 논문집
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- Pages.179-183
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- 2002
로봇 매니퓰레이터의 자세 보정을 위한 카메라 모델링
Camera Modeling for Kinematic Calibration of a Robot Manipulator
초록
This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. radial distortion causes an inward or outward displacement of a given Image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.