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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Visual Servoing-Based Paired Structured Light Robot System for Estimation of 6-DOF Structural Displacement

구조물의 6자유도 변위 측정을 위한 비주얼 서보잉 기반 양립형 구조 광 로봇 시스템

  • 전해민 (KAIST 건설 및 환경공학과) ;
  • 방유석 (KAIST 건설 및 환경공학과) ;
  • 김한근 (KAIST 건설 및 환경공학과) ;
  • 명현 (KAIST 건설 및 환경공학과 로봇학제)
  • Received : 2011.04.18
  • Accepted : 2011.07.20
  • Published : 2011.10.01
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Abstract

This study aims to demonstrate the feasibility of a visual servoing-based paired structured light (SL) robot for estimating structural displacement under various external loads. The former paired SL robot, which was proposed in the previous study, was composed of two screens facing with each other, each with one or two lasers and a camera. It was found that the paired SL robot could estimate the translational and rotational displacement each in 3-DOF with high accuracy and low cost. However, the measurable range is fairly limited due to the limited screen size. In this paper, therefore, a visual servoing-based 2-DOF manipulator which controls the pose of lasers is introduced. By controlling the positions of the projected laser points to be on the screen, the proposed robot can estimate the displacement regardless of the screen size. We performed various simulations and experimental tests to verify the performance of the newly proposed robot. The results show that the proposed system overcomes the range limitation of the former system and it can be utilized to accurately estimate the structural displacement.

Keywords

References

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