Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Tip Position Measurement of a Flexible Robot Arm Using a Vision Sensor

비전 센서를 이용한 유연한 로봇팔의 끝점 위치 측정

  • Shin, Hyo-Pil (Agency for Defense Development) ;
  • Lee, Jong-Kwang (Dept. of Mechanical Design Engineering, Chungnam National University) ;
  • Kang, E-Sok (Dept. of Mechanical Design Engineering, Chungnam National University)
  • Published : 2000.08.01
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Abstract

To improve the performance of a flexible robot arm one of the important things is the vibration displacement measurement of a flexible arm. Many types of sensors have been used to measure it, The most popular has been strain gauges which measures the deflection of the beam,. Photo sensors have also been for detecting beam displacement and accelerometers are often used to measure the beam vibration. But the vibration displacement can be obtained indirectly from these sensors. In this article a vision sensor is used as a displacement sensor to measure the vibration displacement of a flexible robot arm. Several schemes are proposed to reduce the image processing time and increase its accuracy. From the experimental results it is seen that the vision sensor can be an alternative sensor for measuring the vibration displacement and has a potential for on-line tip position control of flexible robot systems.

Keywords

References

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