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http://dx.doi.org/10.7736/KSPE.2015.32.2.191

Six-degree-of-freedom Manipulator Displacement Measurement using Stereo Vision  

Lee, Dong-Hyeok (Department of Mechanical Design and Machatronics, Hanyang University)
Baek, So Young (Department of Mechanical Design Engineering, Hanyang University)
Cho, Nahm Gyoo (Department of Mechanical Engineering, Hanyang University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.32, no.2, 2015 , pp. 191-198 More about this Journal
Abstract
In this paper, six-degree-of-freedom (DoF). Displacement measurement technique using a compact stereo-vision system is proposed. The measuring system consists of a camera, an optical prism, two plane mirrors, and a planar marker on a target. The target was attached on an object so that its six-DoF displacement can be calculated using a proposed coordinates estimating algorithm and stereo images of the marker. A prototype was designed and fabricated for performance test. From the test results, it can be confirmed that the proposed measuring technique can be applied to monitoring and control of various manipulators.
Keywords
Displacement measurement; Stereo vision; Vision-based system; Planar marker; Six degree of freedom;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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