Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Scheme for Assembling Parts Using Visual Servoing

Visual Servoing을 이용한 움직이는 부품의 조립기법

  • Noh, Sang-Soo (Information and Communication Engineering Department Soongsil University) ;
  • Park, Sang-Bum (Information and Communication Engineering Department Soongsil University) ;
  • Lee, Boo-Hyung (Computer Science and Engineering Department Gongju National University) ;
  • Hahn, Young-Joon (Information and Communication Engineering Department Soongsil University) ;
  • Hahn, Hern-Soo (Information and Communication Engineering Department Soongsil University)
  • 노상수 (숭실대학교 비전시스템 연구실) ;
  • 박상범 (숭실대학교 비전시스템 연구실) ;
  • 이부형 (공주대학교 영상처리 연구실) ;
  • 한영준 (숭실대학교 비전시스템 연구실) ;
  • 한헌수 (숭실대학교 비전시스템 연구실)
  • Published : 2006.06.21
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Abstract

This paper proposes a method of assembling parts using visual servoing in dynamic environment. We use SSD(Sum of Square Difference) based on adaptive template in order to detect a moving object in the case where the robot and the object both move. And the control input of the robot is obtained from the feed-back signal of the feature movement and the feed-forward signal of the camera movement in image plane.

Keywords