Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Six-degree-of-freedom Manipulator Displacement Measurement using Stereo Vision

스테레오비전을 이용한 6자유도 머니퓰레이터 변위 측정

  • Lee, Dong-Hyeok (Department of Mechanical Design and Machatronics, Hanyang University) ;
  • Baek, So Young (Department of Mechanical Design Engineering, Hanyang University) ;
  • Cho, Nahm Gyoo (Department of Mechanical Engineering, Hanyang University)
  • 이동혁 (한양대학교 일반대학원 기계설계.메카트로닉스공학부) ;
  • 백소영 (한양대학교 일반대학원 기계설계공학과) ;
  • 조남규 (한양대학교 기계공학과)
  • Received : 2014.09.25
  • Accepted : 2015.01.05
  • Published : 2015.02.01
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Abstract

In this paper, six-degree-of-freedom (DoF). Displacement measurement technique using a compact stereo-vision system is proposed. The measuring system consists of a camera, an optical prism, two plane mirrors, and a planar marker on a target. The target was attached on an object so that its six-DoF displacement can be calculated using a proposed coordinates estimating algorithm and stereo images of the marker. A prototype was designed and fabricated for performance test. From the test results, it can be confirmed that the proposed measuring technique can be applied to monitoring and control of various manipulators.

Keywords

References

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Cited by

  1. Dimension Measurement for Large-scale Moving Objects Using Stereo Camera with 2-DOF Mechanism vol.32, pp.6, 2015, https://doi.org/10.7736/KSPE.2015.32.6.543