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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Vision-Based Part Shape and Misalignment Measurement in Cylindrical Peg-in-Hole Tasks

원형 단면 부품조립에서의 비전 기반 부품형상 및 상대오차 측정

  • 조형석 (한국과학기술원 기계공학과) ;
  • 김진영 (동명정보대학교 메카로닉스공학과)
  • Published : 2005.07.01
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Abstract

For successful deformable part assembly, information about its deformation as well as possible misalignment between the hole and its respective mating part are essential. Such information can be mainly acquired from visual sensors. In this paper, part deformation and misalignment in deformable cylindrical peg-in-hole tasks are measured by using a visual sensing system. First, a series of experiments to measure the position of an arbitrary point are performed. Next, an algorithm to measure misalignment and part shape as part deformation are presented, and a series of experiments on them are performed. Experimental results show that the proposed algorithms and the system are effective in measuring part deformation and misalignment.

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References

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