• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.234-239
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• 2003

A cylindrical shape object is widely used as a mechanical part and a water pipe or an oil pipeline which are of cylindrical shape are widely used in the infrastructure. In order to handling such objects automatically using a robot, the posture i.e. orientation in 3D space should be recognized. However, since there is no edge or vertex in the pipe, it is very difficult task for the robot. In this paper in order to guide the robot, two kind of algorithms which find the axis using the measured range data from the robot to the object surface are to be developed. The algorithms are verified using both the simulated range data and the measured one.