• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.603-605
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• 2005

In this paper, we deal with a calibration method for low cost motion capture sensor using PSD (Position Sensitive Detection). The PSD sensor is employed to measure the direction of incident light from moving markers attached to motion body. To calibrate the PSD optical module, a conventional camera calibration algorithm introduced by Tsai. The 3-dimensional positions of the markers are measured by using stereo camera geometry. From the experimental results, the low cost motion capture sensor can be used in a real time system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.832-835
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• 1996

The main purpose of this study is to achieve the effective port works by using of container-crane, to disposer of many containers rapidly by using of vision sensor in order to control the swing of spreader. It is examined the possibility of automation in container-crane through a test in the field.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.780-785
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• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.583-586
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• 1995

In this paper, a nor fuzzy control algorithm for the target tracking system is proposed, and its characteristics are analyzed and compared with those of the traditional PID controller. Fuzzy rules are generated experimentally using Mamdani's minimum operation and the center of area method. The experimental results prove that the proposed fuzzy algorithm is excellent in our tracking system and its performance is superior to that of the PID controller.

• 전기전자학회논문지
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• 제2권1호
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• pp.139-149
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• 1998

이동로봇의 주행에 있어서 단일센서만으로는 문제점들이 있다. 이러한 문제에 대하여 본 논문에서는 초음파센서와 카메라의 장점을 취한 시스템을 제안한다. 또한 이동로봇의 주행동안에 장애물을 회피하기 위한 좌표추출 알고리즘을 제안한다. 이동로봇의 전반부에 카메라를 장착하였으며 제안된 알고리즘의 유용성을 검증하기 위한 실험을 하였다. 실험결과 초음파 센서만을 사용하는 경우보다 영상센서를 사용하는 경우에 에러율이 줄어 들었다. 또한 측정된 값들을 사용하여 장애물을 회피하기 위한 경로를 생성할 수 있다.

• 전자공학회논문지SC
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• 제37권4호
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• pp.11-21
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• 2000

본 논문에서는 이동로봇이 작업환경 내에서 이동하는 물체를 실시간에 인지, 추적하기 위한 비젼센서 시스템을 제안한다. 제안하는 시스템은 하나의 직선광선을 카메라 영상의 중앙에 수평하게 투영되도록 하여 이동로봇의 경로에 투사하고 이 광선이 물체와 교차하여 생성하는 선분영상만을 취득, 해석함으로써 비젼센서를 이용하는 기존의 방법들이 영상전체를 이해하기 위해 필요로 하던 계산상의 복잡도를 줄이고 있다. 이동물체의 존재여부, 속도 및 위치는 2개의 연속된 영상에서 얻어진 선분영상의 위치 및 길이의 변형도를 일정한 기준치와 비교하여 결정하는 간단한 방법을 제안한다. 제안된 알고리즘은 보안 및 다수이동로봇의 제어분야에서 다양하게 응용될 수 있으며 실험을 통해 그 성능을 평가하였다.

• 한국정밀공학회지
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• 제16권12호
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• 한국생산제조학회지
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• 제8권6호
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• 대한기계학회논문집
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• 제17권9호
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• pp.2191-2204
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• 1993

A sensor system has been developed to measure the posture(position and orientation) of mobile robots working in industrial environments. The proposed sensor system consists of a CCD camera, retro-reflective landmarks, a strobe unit and an image processing board. The proposed hardware system can be built in economic price compared to commercial vision systems. The system has the capability of measuring the posture of mobile robots within 60 msec when a 386 personal computer is used as the host computer. The experimental results demonstrated a remarkable performance of the proposed sensor system in the posture measurement of mobile robots - the average error in position is less than 3 mm and the average error in orientation is less than 1.5.

• 대한기계학회논문집A
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• 제24권4호
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• pp.1039-1046
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• 2000

This paper introduces the control and measurement of a double parallel robot manipulator applied for unknown geometric surface grinding. A measurement system is developed to recognize a grinding path by a vision camera and to observe a grinding load by a current sensor. With the measured fusion information, an intelligent controller identifies the unknown geometric surface and moves the robot along the grinding path with a constant grinding load.