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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robot Target Tracking Method using a Structured Laser Beam

레이저 구조광을 이용한 로봇 목표 추적 방법

  • Kim, Jong Hyeong (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Koh, Kyung-Chul (Department of Information and Communication Engineering, Sunmoon University)
  • 김종형 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 고경철 (선문대학교 정보통신공학과)
  • Received : 2013.08.20
  • Accepted : 2013.10.04
  • Published : 2013.12.01
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Abstract

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.

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References

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