Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Study on the Effect of Weighting Matrix of Robot Vision Control Algorithm in Robot Point Placement Task

점 배치 작업 시 제시된 로봇 비젼 제어알고리즘의 가중행렬의 영향에 관한 연구

  • 손재경 (조선대학교 대학원 기계공학과) ;
  • 장완식 (조선대학교 기계공학과) ;
  • 성윤경 (조선대학교 기계공학과)
  • Received : 2011.11.01
  • Accepted : 2012.06.05
  • Published : 2012.09.01
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Abstract

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

Keywords

References

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