시각센서를 이용한 고기능 산업용 로보트의 제어 시스템 연구

Development of control system for High performance Industrial Robots using Visual Sensor

The purpose of this study is to improve the performance of robot by providing visual function with robot and developing high-functioned controller and control program. The developed high-functioned controller and software have the better accuracy and flexibility in the movement of robot by complementing the existing robot controller and software problems. To provide visual function to robot, camera calibration, thresholding and contouring tools are also developed and applied in this study. These tools help robot recognize the central points and orientations of objects on work-bench.