• 전기학회논문지
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• 제57권1호
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• pp.121-127
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• 2008

In this paper, we propose a new 3-D working point determination method for industrial robot using vision camera system and block interpolation technique with feature points in a vehicle body. To detect the feature points in a vehicle body, we applied the pattern matching method. For determination of working point, we applied block interpolation method. The block consists of 3-D type blocks with detected feature points per section. 3-D position is selected by Euclidean distance between 245 feature values and an acquired feature point. In order to evaluate the proposed algorithm, experiments are performed in glass equipment process in real industrial vehicle assembly line.

• 한국정밀공학회지
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• 제16권2호통권95호
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• pp.68-73
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• 1999

Generally, most of machining processes are done according to the dimention of the draft made by CAD. However, there are many cases that a sample is given without the draft because of the simplicity of the shape in the machining of 2D objects. To cut the same shape as the given sample, this paper proposes the method to extract the geometric information about a large sample using the robot vision and to draw the demensional draft for the machining. Because the resolution of one frame in the vision system is too low, it is necessary to set up a camera according to the desired resolution and to capture the image moving along the contour. And the overall outline can be compounded of the sequentially captured images. In the experiment, we compared the product after the cutting with the original sample and found that the size of two objects was coincided within the allowed error bound.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.678-682
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• 2000

The purpose of this study is to develop a powerful 6-axes general welding robot utilizing a low cost vision system. The developed vision system is composed of a CCD camera, a PC with windows 98 OS, and a PC-Robot communication program using Visual C++. A test was carried out to investigate whether the welding torch can precisely follow up the welding path. It shows that the result of this study can readily be applied to practical welding operations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.915-919
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• 2003

This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

• 한국정밀공학회지
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• 제19권9호
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• pp.133-141
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• 2002

In this paper, we propose a hierarchical motion controller with stand-alone vision system to enhance the flexibility of the robot soccer system. In addition, we simplified the model of dynamic environments of the robot using petri-net and simple state diagram. Based on the proposed model, we designed the robot soccer system with velocity and position controller that includes 4-level hierarchically structured controller. Some experimental results using the stand-alone vision system from host system show improvement of the controller performance by reducing processing time of vision algorithm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.63-64
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• 2010

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 1996년도 특별강연 및 춘계학술발표 개요집
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• pp.91-93
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• 1996

• 대한전기학회:학술대회논문집
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• 대한전기학회 1985년도 하계학술회의논문집
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• pp.102-107
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• 1985

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1053-1061
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• 2008

In this paper, a moving target tracking using a binocular vision for an omni-directional mobile robot is addressed. In the binocular vision, three dimensional information on the target is extracted by vision processes including calibration, image correspondence, and 3D reconstruction. The robot controller is constituted with SPI(serial peripheral interface) to communicate effectively between robot master controller and wheel controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.497-501
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• 1990

본 논문에서는 다중로보트의 제어를 위하여 비젼 센서 등 여러 가지 센서신호를 처리할 수 있고 로봇의 충돌회피 및 협조제어를 할 수 있는 제어시스템을 개발하였다. 본 제어장치는 시스템 전체를 관리하며 언어 및 로보트 동작의 교시 그리고 자기진단 등의 기능을 하는 Supervisory Processor, vision에 대한 정보를 담당하는 로보트 제어 processor 등 여러개의 프로세서로 나누어 분산처리 구조를 갖도록 하여 확장성 및 유연성이 높은 시스템이 되도록 하였다. 실험적으로 본 시스템을 이용하여 로보트로 하여금 puzzle을 맞추는 작업을 수행시킴으로써 본 시스템의 우수성을 입증하였다.