• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.4
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• pp.386-394
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• 2011

This paper is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models, which are the robot's kinematic model, vision system model, 6-parameters estimation model, and robot's joint angles estimation model. For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. Each obstacle region consists of 3 cases, according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.297-298
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• 2009

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.305-315
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• 2016

This study aims to develop a robot vision control scheme using the Newton-Raphson (N-R) method for the uncertainty of circumstance caused by the appearance of obstacles during robot movement. The vision system model used for this study involves six camera parameters (C1-C6). First, the estimation scheme for the six camera parameters is developed. Then, based on the six estimated parameters for three of the cameras, a scheme for the robot's joint angles is developed for the placement of a slender bar. For the placement of a slender bar for the uncertainty of circumstances, in particular, the discontinuous robot trajectory caused by obstacles is divided into three obstacle regions: the beginning region, middle region, and near-target region. Then, the effects of obstacles while using the proposed robot vision control scheme are investigated in each obstacle region by performing experiments with the placement of the slender bar.