• 로봇학회논문지
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• 제2권4호
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• pp.327-333
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• 2007

We propose a navigation algorithm using image-based visual servoing utilizing a fixed camera. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the image error between the goal position and the position of a mobile robot. The residual function which is the image error between the position of a mobile robot and the goal position is generally large for this navigation problem. So, this navigation problem can be considered as the nonlinear least squares problem for the large residual case. For large residual, we propose a method to find the second-order term using the secant approximation method. The performance was evaluated using the simulation.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.403-410
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• 2016

This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.

• 한국항행학회논문지
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• 제13권5호
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• pp.705-713
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• 2009

본 논문에서는 휴머노이드 로봇의 코바 기반 비주얼 서보잉 시스템에 대해 논하고자한다. 네트워크로 연결된 휴머노이드 로봇의 효율적인 제어를 위해서 비주얼 서보잉에 필요한 각 서비스를 분산객체로 정의하고, 이를 코바 미들웨어 상에서 구현한다. 필요한 서비스로는 각 서비스를 고유한 이름으로 탐색할 수 있는 네이밍 서비스, 스테레오 카메라로부터 획득되는 영상을 제공하는데 필요한 영상 서비스 그리고 목표물을 추적하면서 3차원 위치 정보를 추출하는 비주얼 서보잉 서비스 등이 있다. 실험에서는 실시간으로 목표물인 풍선을 추적하고 일정시간 정지해 있을 경우 풍선을 터뜨리는 결과를 보인다.

• 대한기계학회논문집A
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• 제20권10호
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• pp.3038-3047
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• 1996

In telerobot systems, visual servoing of a task object for a slave arm with an eye-in-hand has drawn an interesting attention. As such a task ingenerally conducted in an unstructured environment, it is very difficult to define the inverse feature Jacobian matrix. To overcome this difficulty, this paper proposes an auto-tuning fuzzy rule-based visual servo algorithm. In this algorithm, a visual servo controller composed of fuzzy rules, receives feature errors as inputs and generates the change of have position as outputs. The fuzzy rules are tuned by using steepest gradient method of the cost function, which is defined as a quadratic function of feature errors. Since the fuzzy rules are tuned automatically, this method can be applied to the visual servoing of a slave arm in real time. The effctiveness of the proposed algorithm is verified through a series of simulations and experiments. The results show that through the learning procedure, the slave arm and track object in real time with reasonable accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1650-1654
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• 2004

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.778-782
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• 2003

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

• 대한전자공학회논문지
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• 제27권11호
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• pp.32-41
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• 1990

본 논문에서는 시각정보에 의하여 로봇을 제어하기위해 영상으로부터 추출되는 feature를 이용하는 한 방법을 제안한다. 특별히 feature에 대한 수학적인 정의를 제안하였으며 로봇의 움직임과 feature vector의 미소한 변화 사이의 관계를 기술하였다. 이 과정에서 feature jacobian matrix와 그의 gene-ralized inverse가 사용되었다. 로봇 자유도의 수보다 많은 feature를 사용하면 visual servoing의 성능을 향상시킬 수 있었다. 여러 예를 통하여, 본 논문에서 제안된 방법이 유효함을 보였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.837-838
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• 2006

This paper proposes a method of assembling parts using visual servoing in dynamic environment. We use SSD(Sum of Square Difference) based on adaptive template in order to detect a moving object in the case where the robot and the object both move. And the control input of the robot is obtained from the feed-back signal of the feature movement and the feed-forward signal of the camera movement in image plane.

• 한국산업융합학회 논문집
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• 제17권1호
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• 한국기계가공학회지
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• 제12권1호
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• pp.35-42
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• 2013

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.