• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.12 no.1
• /
• pp.8-15
• /
• 2003

The cylindrical object such as a water pipe or an oil pipeline are widely used in the infrastructure. Those pipes should be inspected periodically by human or a robot. However, since there is no edge or vertex in the pipe, it is very difficult for the robot to navigate along the pipe. In this paper in order to guide the robot along the axis of the pipe, an algorithm which find the axis using the measured range data from the robot to the pipe wall is developed The algorithm is verified using both the simulated range data and the measured one.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.14 no.3
• /
• pp.54-59
• /
• 2005

The cylindrical object are widely used as mechanical parts in the manufacturing process. In order to handling those objects using a robot or an automated machine automatically, the pose of the object must be known. The pose can be described by two rotation angles; one angle about the x axis and the other about the y axis. In the many previous researches these angles were obtained by the computationally intensive algorithm, that is, fitting the data as a polynomial and doing pseudo inverse. So that, this method required high performance microprocessor. In this paper in order to avoid complex computation, a new method based on a genetic algorithm is proposed and analyzed through a series of simulations. This algorithm utilized the geometry of the cylindrical shape. The simulation results show that this method find the pose angles very well In most cases, but the computation time is randomly changed because the genetic algorithm is basically one of the random search method.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.12
• /
• pp.38-44
• /
• 1995

This paper presents a method to measure the position and orientation of a Cylindrical Object(unknown the eiameter and length) lying on a floor, using a camera. The two extreme cross section of the cylinder will be viewed as distorted ellipese or circular are, while its limb edge will be shown as two straight lines. The diameter of the cylinder is determined from the geometric properties of the two straight lines, which in turn provides information regarding the length of the cylinder. From the 3-dimensional measurement, the 3D coordinates of the center points of the two extreme cross sections are determined to give the position and orientation of the cylinder. This method is used for automated pick-and-place operations of cylinder, such as sheet coils, or drums in warehouses.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2003.04a
• /
• pp.234-239
• /
• 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.