한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)
- 제17권3호
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- Pages.136-144
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- 2014
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- 1226-833X(pISSN)
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- 2765-5415(eISSN)
DOI QR Code
영상 피드백에 의한 4축 스카라 로봇의 실시간 궤적추적제어에 관한 연구
A Study on Real-Time Trajectory Tracking Control of SCARA Robot with Four Joints Based on Visual Feedback
- Jung, Yang-Guen (Dept. of Advanced Engineering, Kyungnam University) ;
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Shim, Hyun-Seok
(DongSan Tech Co., Ltd.)
;
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Lee, Woo-Song
(R&D Center, SungSanamdeco Co. Ltd.)
;
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Han, Sung-Hyun
(School of Mechanical Engineering, Kyungnam University)
- 투고 : 2014.07.04
- 심사 : 2014.07.18
- 발행 : 2014.08.31
초록
This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presents how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.