제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Pyramidal Mirror System Calibration Method for Robotic Assembly

  • Kim, J.Y. (Dept. of Mechatronics Engineering, Tongmyong University of Information Technology) ;
  • Kang, D.J. (Dept. of Mechatronics Engineering, Tongmyong University of Information Technology) ;
  • Kim, M.S. (Dept. of Mechatronics Engineering, Tongmyong University of Information Technology) ;
  • Ha, J.E. (Dept. of Mechatronics Engineering, Tongmyong University of Information Technology) ;
  • Lho, T.J. (Dept. of Mechatronics Engineering, Tongmyong University of Information Technology) ;
  • Yoon, J.S. (School. of Mechanical Engineering, Pusan National University)
  • Published : 2005.06.02
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Abstract

In case of visual sensing systems with multiple mirrors, systematic errors need to be reduced by the system calibration and the mirror position adjustment in order to enhance system measurement accuracy. In this paper, a self calibration method is presented for a visual sensing system designed to measure the three-dimensional information in deformable peg-in-hole tasks. It is composed of a CCD camera and a series of mirrors including two pyramidal mirrors. By using an image of the inner pyramidal mirror taken by the system, the error parameters of the inner pyramidal mirror could be calibrated or adjusted. Also the influence of the plane mirrors is investigated.

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