한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제19권1호
  • /
  • Pages.119-126
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  • 2002
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

엘리트 유전 알고리즘을 이용한 비젼 기반 로봇의 위치 제어

Vision Based Position Control of a Robot Manipulator Using an Elitist Genetic Algorithm

  • 박광호 (전남대학교 대학원 기계공학과) ;
  • 김동준 (전남대학교 대학원 기계공학과) ;
  • 기석호 (서강정보대학 소방관리학과) ;
  • 기창두 (전남대학교 기계공학과)
  • Park, Kwang-Ho (Dept.of Mechanical Engineering, Graduate School of Chonnam National Universityisy) ;
  • Kim, Dong-Joon (Dept.of Mechanical Engineering, Graduate School of Chonnam National Universityisy) ;
  • Kee, Seok-Ho (Dept. of Mechanical Eng., Seokang College) ;
  • Kee, Chang-Doo (Dept.of Mechanical Engineering, Chonnam National Universityisy)
  • 발행 : 2002.01.01
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초록

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

키워드

참고문헌

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