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http://dx.doi.org/10.3795/KSME-A.2013.37.4.447

Evaluation of Two Robot Vision Control Algorithms Developed Based on N-R and EKF Methods for Slender Bar Placement  

Son, Jae Kyung (Dept. of Mechanical Engineering, Chosun Univ.)
Jang, Wan Shik (Dept. of Mechanical Engineering, Chosun Univ.)
Hong, Sung Mun (Dept. of Mechanical Engineering, Chosun Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.37, no.4, 2013 , pp. 447-459 More about this Journal
Abstract
Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.
Keywords
Robot Vision Control Algorithm; Newton-Raphson(N-R); Extended Kalman Filtering(EKF); Slender-Bar Placement;
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Times Cited By KSCI : 2  (Citation Analysis)
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