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A Study on Visual Servoing Application for Robot OLP Compensation  

김진대 (영남대학교 대학원 기계공학과)
신찬배 (울산과학대학 디지털 기계학부)
이재원 (영남대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.4, 2004 , pp. 95-102 More about this Journal
Abstract
It is necessary to improve the exactness and adaptation of the working environment in the intelligent robot system. The vision sensor have been studied for this reason fur a long time. However, it is very difficult to perform the camera and robot calibrations because the three dimensional reconstruction and many processes are required for the real usages. This paper suggests the image based visual servoing to solve the problem of old calibration technique and supports OLP(Off-Line-Programming) path compensation. Virtual camera can be modeled from the real factors and virtual images obtained from virtual camera gives more easy perception process. Also, Initial path generated from OLP could be compensated by the pixel level acquired from the real and virtual, respectively. Consequently, the proposed visually assisted OLP teaching remove the calibration and reconstruction process in real working space. With a virtual simulation, the better performance is observed and the robot path error is calibrated by the image differences.
Keywords
Intelligent Robot; Vision Sensor; Camera and Robot Calibration; Image based visual servoing; Path Compensation; Virtual Camera; Image differences;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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