Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Evaluation of Robot Vision Control Scheme Based on EKF Method for Slender Bar Placement in the Appearance of Obstacles

장애물 출현 시 얇은 막대 배치작업에 대한 EKF 방법을 이용한 로봇 비젼제어기법 평가

  • Hong, Sung-Mun (Department of Mechanical Engineering, Chosun University) ;
  • Jang, Wan-Shik (Department of Mechanical Engineering, Chosun University) ;
  • Kim, Jae-Meung (Department of Mechanical Engineering, Chosun University)
  • 홍성문 (조선대학교 기계공학과) ;
  • 장완식 (조선대학교 기계공학과) ;
  • 김재명 (조선대학교 기계공학과)
  • Received : 2015.01.22
  • Accepted : 2015.04.28
  • Published : 2015.05.01
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Abstract

This paper presents the robot vision control schemes using Extended Kalman Filter (EKF) method for the slender bar placement in the appearance of obstacles during robot movement. The vision system model used for this study involves the six camera parameters($C_1{\sim}C_6$). In order to develop the robot vision control scheme, first, the six parameters are estimated. Then, based on the estimated parameters, the robot's joint angles are estimated for the slender bar placement. Especially, robot trajectory caused by obstacles is divided into three obstacle regions, which are beginning region, middle region and near target region. Finally, the effects of number of obstacles using the proposed robot's vision control schemes are investigated in each obstacle region by performing experiments of the slender bar placement.

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References

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