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

  • 제12권3호
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  • Pages.248-254
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  • 2006
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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가상 환경에서의 영상 기반 시각 서보잉을 통한 로봇 OLP 보상

A Study on Robot OLP Compensation Based on Image Based Visual Servoing in the Virtual Environment

  • 발행 : 2006.03.01
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초록

It is necessary to improve the exactness and adaptation of the working environment for the intelligent robot system. The vision sensor have been studied for a long time at this points. However, it has many processes and difficulties for the real usages. This paper proposes a visual servoing in the virtual environment to support OLP(Off-Line-Programming) path compensation and supplement the problem of complexity of the old kinematical calibration. Initial robot path could be compensated by pixel differences between real and virtual image. This method removes the varies calibrations and 3D reconstruction process in real working space. To show the validity of the proposed approach, virtual space servoing with stereo camera is carried out with WTK and openGL library for a KUKA-6R manipulator and updated real robot path.

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참고문헌

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