대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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로봇 팔의 위치 제어를 위한 영상 처리 기법

Image Processing for Position Control of a Robot Manipulator

  • 조현석 (아주대학교 전자공학부) ;
  • 유래성 (아주대학교 전자공학부) ;
  • 최성섭 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • Cho, Hyun-Suk (School of Electronics Engineering, Ajou University) ;
  • Yu, Lae-Sung (School of Electronics Engineering, Ajou University) ;
  • Choi, Seong-Seop (School of Electronics Engineering, Ajou University) ;
  • Hong, Suk-Kyo (School of Electronics Engineering, Ajou University)
  • 발행 : 2003.07.21
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초록

This paper presents an image processing method to recognize object's position from images for robot control applications. The Sobel Mask and the Dialated Gradient Mask algorithms are used to extract and refine the edge of the object. The inside of the extracted edge is filled with '1's for calculation of the center of mass to identify object's position. We propose a heuristic method which averages the positions of the objects in 10 frames to reject noises, and discuss the application of the proposed method to robot control.

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