Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Real-time Robotic Vision Control Scheme Using Optimal Weighting Matrix for Slender Bar Placement Task

얇은 막대 배치작업을 위한 최적의 가중치 행렬을 사용한 실시간 로봇 비젼 제어기법

  • Jang, Min Woo (Department of mechanical Engineering, Chosun University) ;
  • Kim, Jae Myung (Department of mechanical Engineering, Chosun University) ;
  • Jang, Wan Shik (Department of mechanical Engineering, Chosun University)
  • Received : 2016.08.08
  • Accepted : 2017.01.02
  • Published : 2017.02.15
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Abstract

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

Keywords

References

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