산업용 로봇 매니퓰레이터의 오프라인 영상피드백 제어

011-line Visual Feedback Control of Industrial Robot Manipulator

  • 신행봉 (경남대학교 대학원 기계설계학과) ;
  • 정동연 (경남대학교 대학원 기계설계학과) ;
  • 김용태 (경남대학교 대학원 기계설계학과) ;
  • 이종두 (거창전문대학 기계설계과) ;
  • 이강두 (진주전문대학 정보통신과)
  • 발행 : 2002.04.01

초록

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS ). We can save much efforts and time in adjusting robots to newly defined workcells by using Off-Line Programming System. A proposed visual calibration scheme is based on position-based visual feedback. The visual calibration system is composed of a personal computer, an image processing board, a video monitor, and one camera. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

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