• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.1-105
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• 2002

$\textbullet$ This paper deals with obstacle avoidance of a quadruped robot with a vision system and a PSD sensor. $\textbullet$ The vision system needs for obstacle recognition toward robot. $\textbullet$ Ths PSD sensor is also important element for obstacle recognition. $\textbullet$ We propose algorithm that recognizes obstacles with one vision and PSD sensor. $\textbullet$ We also propose obstacle avoidance algorithm with map from obstacle recognition algorithm. $\textbullet$ Using these algorithm, Quadruped robot can generate gait trajectory. $\textbullet$ Therefore, robot can avoid obstacls, and can move to target point.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.77.5-77
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• 2001

A Robot vision system with a visual skill so as take information for arbitrary target or object has been applied to auto-inspection and assembling system. It catches the moving target with the manipulator by using the information from the vision system. The robot needs some information where the moving object will place after certain time. A camera is fixed on a robot manipulator, not on the fixed support outside of the robot. It secures wider working area than the fixed camera, and it dedicates to auto scanning of the object. It computes some information on the object center, angle and speed by vision data, and can guess grabbing spot by arriving time. When the location ...

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.29-32
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• 2002

This paper suggest target detection algorithm for mobile robot control using color and shape recognition. In many cases, ultrasonic sensor(USS) is used in mobile robot system to measure the distance between obstacles. But with only USS, it may have many restrictions. So we attached CCD camera to mobile robot to overcome its restrictions. If visual information is given to robot system then robot system will be able to accomplish more complex mission successfully. With acquired vision data, robot looks for target by color and recognize its shape.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.590-593
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• 2001

In this paper we describe the 6-axes robot's position determination using a stereo vision and an image based control method. When use a stereo vision, it need a additional time to compare with mono vision system. So to reduce the time required, we use the stereo vision not image Jacobian matrix estimation but depth estimation. Image based control is not needed the high-precision of camera calibration by using a image Jacobian. The experiment is executed as devide by two part. The first is depth estimation by stereo vision and the second is robot manipulator's positioning.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.447-459
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• 2013

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1087-1090
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• 2004

stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of object grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better, but if it is overly many, the robot have to process many data, it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator, and then it can grip the object successfully.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.104-113
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• 1996

In robot system, the robot manipulation needs the information of task and objects to be handled in possessing a variaty of positions and orientations. In the current industrial robot system, determining position and orientation of objects under industrial environments is one of major problems. In order to pick up an object, the roblt needs the information about the position and orientation of object, and between objects and gripper. When sensing is accomplished by pinhole model camera, the mathematical relationship between object points and their images is expressed in terms of perspective, i.e., central projection. In this paper, a new approach to determine the information of the supporting points related to position and orientation of the object using the robot vision system is developed and testified in experimental setup. The result will be useful for the industrial, agricultural, and autonomous robot.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.314-319
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• 2002

The Automation and Control Group at the University of Brasilia is developing an automatic welding station based on an industrial robot and a controllable welding machine. Several techniques were applied in order to improve the quality of the welding joints. This paper deals with the implementation of a laser-based computer vision system to guide the robotic manipulator during the welding process. Currently the robot is taught to follow a prescribed trajectory which is recorded a repeated over and over relying on the repeatability specification from the robot manufacturer. The objective of the computer vision system is monitoring the actual trajectory followed by the welding torch and to evaluate deviations from the desired trajectory. The position errors then being transfer to a control algorithm in order to actuate the robotic manipulator and cancel the trajectory errors. The computer vision systems consists of a CCD camera attached to the welding torch, a laser emitting diode circuit, a PC computer-based frame grabber card, and a computer vision algorithm. The laser circuit establishes a sharp luminous reference line which images are captured through the video camera. The raw image data is then digitized and stored in the frame grabber card for further processing using specifically written algorithms. These image-processing algorithms give the actual welding path, the relative position between the pieces and the required corrections. Two case studies are considered: the first is the joining of two flat metal pieces; and the second is concerned with joining a cylindrical-shape piece to a flat surface. An implementation of this computer vision system using parallel computer processing is being studied.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.249-249
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• 2000

This paper introduces a clean mobile robot fur 4th generation LCD cassette, which is guided by optical sensor and position compensation using vision module. The mobile robot for LCD cassette transfer might be controlled by AGV controller which has powerful algorithms. It offers optimum routes to the destination of clean mobile robot by using dynamic dispatch algorithm and MAP data. This clean mobile robot is equipped with 4 axes fork type manipulator providing repeatability accuracy of $\pm$ 0.05mm.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.486-491
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• 2016

Disturbance/vibration reduction is critical in many applications using machine vision. The off-focusing or blurring error caused by vibration degrades the machine performance. In line with this, real-time disturbance estimation and avoidance are proposed in this study instead of going with a more familiar approach, such as the vibration absorber. The instantaneous motion caused by the disturbance is sensed by an attitude heading reference system module. A periodic vibration modeling is conducted to provide a better performance. The algorithm for vibration avoidance is described according to the vibration modeling. The vibration occurrence function is also proposed, and its parameters are determined using the genetic algorithm. The proposed algorithm is experimentally tested for its effectiveness in the vision inspection system.