• 한국정밀공학회지
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• 제20권12호
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• pp.73-79
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• 2003

Recently, the tole-robot operations to an unstructured environment have been widely researched. The human's interaction with the tole-robot system can be used to improve robot operation and performance for an unknown environment. The exact modeling based on real environment is fundamental and important process for this interaction. In this paper, we propose an extrinsic parameter calibration and data augmentation method that only uses a circular jig in the hand-eye laser virtual environment. Compared to other methods, easier estimation and overlay can be done by this algorithm. Experimental results using synthetic graphic demonstrate the usefulness of the proposed algorithm.

• 한국정밀공학회지
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• 제22권11호
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• pp.82-90
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• 2005

Recently, the in-line vision inspection has become the subject of growing research area in the visual control systems and robotic intelligent fields that are required exact three-dimensional pose. The objective of this article is to study the pc based in line visual inspection with the hand-eye structure. This paper suggests three dimensional structured light measuring principle and design method of laser sensor header. The hand-eye laser sensor have been studied for a long time. However, it is very difficult to perform kinematical analysis between laser sensor and robot because the complicated mathematical process are needed for the real environments. In this problem, this paper will propose auto-calibration concept. The detail process of this methodology will be described. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed in-line inspection module demonstrate the successful operation with hole, gap, width or V edge.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.510-514
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• 1994

This paper deals with an application of neural network to camera calibration with wide angle lens and 2-D range finding. Wide angle lens has an advantage of having wide view angles for mobile environment recognition ans robot eye in hand system. But, it has severe radial distortion. Multilayer neural network is used for the calibration of the camera considering lens distortion, and is trained it by error back-propagation method. MLP can map between camera image plane and plane the made by structured light. In experiments, Calibration of camers was executed with calibration chart which was printed by using laser printer with 300 d.p.i. resolution. High distortion lens, COSMICAR 4.2mm, was used to see whether the neural network could effectively calibrate camera distortion. 2-D range of several objects well be measured with laser range finding system composed of camera, frame grabber and laser structured light. The performance of 3-D range finding system was evaluated through experiments and analysis of the results.

• Journal of Electrical Engineering and Technology
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• 제10권4호
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• pp.1830-1835
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• 2015

In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

• International Journal of Precision Engineering and Manufacturing
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• 제7권2호
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• pp.41-45
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• 2006

This paper deals with human spatial cognition using visual and auditory stimulation. More specially, this investigation is to observe the relationship between the head and the eye motor system for the localization of visual target direction in space and to try to describe what is the role of right-side versus left-side pinna. In the experiment of visual stimulation, nineteen red LEDs (Luminescent Diodes, Brightness: $210\;cd/^2$) arrayed in the horizontal plane of the surrounding panel are used. Here the LEDs are located 10 degrees apart from each other. Physiological parameters such as EOG (Electro-Oculography), head movement, and their synergic control are measured by BIOPAC system and 3SPACE FASTRAK. In the experiment of auditory stimulation, one side of the pinna function was distorted intentionally by inserting a short tube in the ear canal. The localization error caused by right and left side pinna distortion was investigated as well. Since a laser pointer showed much less error (0.5%) in localizing target position than FASTRAK (30%) that has been generally used, a laser pointer was used for the pointing task. It was found that harmonic components were not essential for auditory target localization. However, non-harmonic nearby frequency components was found to be more important in localizing the target direction of sound. We have found that the right pinna carries out one of the most important functions in localizing target direction and pure tone with only one frequency component is confusing to be localized. It was also found that the latency time is shorter in self moved tracking (SMT) than eye alone tracking (EAT) and eye hand tracking (EHT). These results can be used in further study on the characterization of human spatial cognition.

• 한국정밀공학회지
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• 제23권11호
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.