한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제16권12호
- /
- Pages.87-98
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- 1999
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- 1225-9071(pISSN)
- /
- 2287-8769(eISSN)
불확실한 환경에서 매니퓰레이터 위치제어를 위한 실시간 비젼제어기법에 관한 연구
A Study on the Real-Time Vision Control Method for Manipulator's position Control in the Uncertain Circumstance
- 정완식 (조선대학교 기계공학부) ;
-
김경석
(조선대학교 기계공학부) ;
- 신광수 (조선대학교 대학원 기계공학과) ;
- 주철 (조선대학교 대학원 기계공학과) ;
- 김재확 (조선대학교 대학원 기계공학과) ;
- 윤현권 (조선대학교 대학원 기계공학과)
- Jang, W.-S. ;
-
Kim, K.-S.
;
- Shin, K.-S. ;
- Joo, C. ;
- ;
- Yoon, H.-K.
- 발행 : 1999.12.01
초록
This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.