특정점 측정에 근거한 도어 장착 로봇의 위치 보정 시스템 개발: Part I-보정 알고리즘

Development of position correction system of door mounting robot based on point measure: Part I-Algorithm

This work deals with finding a suitable position correction algorithm of industrial robot based on measuring particular points, which calculates two dimensional correction quantities and the must allow visually acceptable door-chassis assembly task. Three optimizing algorithms corresponding to three differ- ent error based performance indices are compared and selected to the best one, in terms of the predefined total uniformity, line uniformity and computational time. The selected algorithm(Total Error Minimization) is implemented for a simple door-chassis model to show its effectiveness.