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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Tip Position Control of a Robot Manipulator using Visual Markers

영상표식 기반의 로봇 매니퓰레이터 끝점 위치 제어

  • 임세준 (인하대학교 전기공학부) ;
  • 임현 (서울대학교 기계항공공학부) ;
  • 이영삼 (인하대학교 전기공학부)
  • Received : 2010.05.07
  • Accepted : 2010.06.27
  • Published : 2010.09.01
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Abstract

This paper proposes tip position control system which uses a visual marker to determine the tip position of a robot manipulator. The main idea of this paper is to introduce visual marker for the tracking control of a robot manipulator. Existing researches utilize stationary markers to get pattern information from them. Unlike existing researches, we introduce visual markers to get the coordinates of them in addition to their pattern information. Markers need not be stationary and the extracted coordinate of markers are used as a reference trajectory for the tracking control of a robot manipulator. To build the proposed control scheme, we first obtain intrinsic parameters through camera calibration and evaluate their validity. Secondly, we present a procedure to obtain the relative coordinate of a visual marker with respect to a camera. Thirdly, we derive the equation for the kinematics of the SCORBOTER 4pc manipulator which we use for control of manipulator. Also, we provide a flow diagram of entire visual marker tracking system. The feasibility of the proposed scheme will be demonstrated through real experiments.

Keywords

References

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