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http://dx.doi.org/10.5302/J.ICROS.2006.12.3.248

A Study on Robot OLP Compensation Based on Image Based Visual Servoing in the Virtual Environment  

Shin Chan-Bai (울산과학대학 디지털기계학부)
Lee Jeh-Woon (영남대학교 기계공학부)
Kim Jin-Dae ((주)유진 MS 기술부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.3, 2006 , pp. 248-254 More about this Journal
Abstract
It is necessary to improve the exactness and adaptation of the working environment for the intelligent robot system. The vision sensor have been studied for a long time at this points. However, it has many processes and difficulties for the real usages. This paper proposes a visual servoing in the virtual environment to support OLP(Off-Line-Programming) path compensation and supplement the problem of complexity of the old kinematical calibration. Initial robot path could be compensated by pixel differences between real and virtual image. This method removes the varies calibrations and 3D reconstruction process in real working space. To show the validity of the proposed approach, virtual space servoing with stereo camera is carried out with WTK and openGL library for a KUKA-6R manipulator and updated real robot path.
Keywords
OLP compensation; pixel differences; real and virtual image; virtual space servoing;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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