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http://dx.doi.org/10.7735/ksmte.2017.26.1.50

Real-time Robotic Vision Control Scheme Using Optimal Weighting Matrix for Slender Bar Placement Task  

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)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.26, no.1, 2017 , pp. 50-58 More about this Journal
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
Robot's vision control algorithm; Newton raphson method (N-R); Parameter estimation model; Joint angle estimation model; Weighting matrix model; Slender bar placement task;
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Times Cited By KSCI : 1  (Citation Analysis)
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