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A Study on the Practicality of Vision Control Scheme used for Robot's Point Placement task in Discontinuous Trajectory  

Son, Jae-Kyeong (조선대학교 기계공학과 대학원)
Jang, Wan-Shik (조선대학교 기계공학과)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.20, no.4, 2011 , pp. 386-394 More about this Journal
Abstract
This paper is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models, which are the robot's kinematic model, vision system model, 6-parameters estimation model, and robot's joint angles estimation model. For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. Each obstacle region consists of 3 cases, according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.
Keywords
Vision control scheme; Discontinuous trajectory; Point placement; Obstacle region;
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Times Cited By KSCI : 2  (Citation Analysis)
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