• Title/Summary/Keyword: position and orientation

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011-line Visual Feedback Control of Industrial Robot Manipulator (산업용 로봇 매니퓰레이터의 오프라인 영상피드백 제어)

  • 신행봉;정동연;김용태;이종두;이강두
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.04a
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    • pp.567-572
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    • 2002
  • The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS ). We can save much efforts and time in adjusting robots to newly defined workcells by using Off-Line Programming System. A proposed visual calibration scheme is based on position-based visual feedback. The visual calibration system is composed of a personal computer, an image processing board, a video monitor, and one camera. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

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Off-line Visual Feedback Control of Robot Manipulator (로봇 매니퓰레이터의 오프라인 영상피드백 제어)

  • 신행봉;정동연;이종두;이강두;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2001.10a
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    • pp.140-145
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    • 2001
  • The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using Off-Line Programming System. A proposed visual calibration scheme is based on position-based visual feedback. The visual calibration system is composed of a personal computer, an image processing board, a video monitor, and one camera. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

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3D Depth Measurement System based on Parameter Calibration of the Mu1ti-Sensors (실거리 파라미터 교정식 복합센서 기반 3차원 거리측정 시스템)

  • Kim, Jong-Man;Kim, Won-Sop;Hwang, Jong-Sun;Kim, Yeong-Min
    • Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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    • 2006.05a
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    • pp.125-129
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    • 2006
  • The analysis of the depth measurement system with multi-sensors (laser, camera, mirror) has been done and the parameter calibration technique has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance.

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Control of a mobile robot supporting a task robot on the top

  • Lee, Jang M.
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10a
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    • pp.1-7
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    • 1996
  • This paper addresses the control problem of a mobile robot supporting a task robot with needs to be positioned precisely. The main difficulty residing in the precise control of a mobile robot supporting a task robot is providing an accurate and stable base for the task robot. That is, the end-plate of the mobile robot which is the base of the task robot can not be positioned accurately without external position sensors. This difficulty is resolved in this paper through the vision information obtained from the camera attached at the end of a task robot. First of all, the camera parameters were measured by using the images of a fixed object captured by the camera. The measured parameters include the rotation, the position, the scale factor, and the focal length of the camera. These parameters could be measured by using the features of each vertex point for a hexagonal object and by using the pin-hole model of a camera. Using the measured pose(position and orientation) of the camera and the given kinematics of the task robot, we calculate a pose of the end-plate of the mobile robot, which is used for the precise control of the mobile robot. Experimental results for the pose estimations are shown.

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A Real-Time Control of SCARA Robot Based Image Feedback (이미지 피드백에 의한 스카라 로봇의 실시간 제어)

  • Lee, Woo-Song;Koo, Young-Mok;Shim, Hyun-Seok;Lee, Sang-Hoon;Kim, Dong-Yeop
    • Journal of the Korean Society of Industry Convergence
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    • v.17 no.2
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    • pp.54-60
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    • 2014
  • The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.

Study on the Positioning System for Logistics of Ship-block (선체 블록 물류관리를 위한 위치추적 시스템 연구)

  • Lee, Yeong-Ho;Lee, Kyu-Chan;Lee, Kil-Jong;Son, Yung-Deug
    • Special Issue of the Society of Naval Architects of Korea
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    • 2008.09a
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    • pp.68-75
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    • 2008
  • This paper describes the design and implementation of a low cost inertial navigation system(INS) using an inertial measurement unit(IMU), a digital compass, GPS, and an embedded system. The system has been developed for a transporter that load and unload ship blocks in a shipbuilding yard. When the transporter would move from place to place, they would periodically pass under obstructions that would obscure the GPS signal. This increases the error when estimating the position. Thus the INS has been used to improve position accuracy. INS is also capable of providing continuous estimates of the transporter's position and orientation. Even though IMU is typically very expensive, this INS is made of "low cost" components and the indirect Kalman filtering algorithm.

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Initialization Problem of Service Robots with Artificial Stars

  • Park, Young-Chul;Im, Jae-Myung;Kim, Jin-Oh
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2042-2047
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    • 2005
  • Many service robots which is interacting with human at home and in buildings have been developed. Few of them are shown in of the United States and of Japan. These robots are supposed to have a powerful indoor navigation performance in places where human beings live and work. The overall capability of service robots to move around in this environment is called environment correspondence, in which localization problem to find the accurate position and orientation is the most critical problem. While users set up a proper or a best environment for industrial robots, but for services robots at home and in buildings, it is very difficult to change the environment for robots. The expanded workspace due to mobility is difficult to be covered by means of those used for industrial robots because the cost increases and human beings do not want their environment to be changed for robots. This fact has made many researchers study efficient and effective environment correspondence problems. Among these problems, localization is the most difficult. Goal of localization study includes (1) Accurate detection of position and orientation (2) Minimum cost of the additional devices (3) Minimum change of human environment. In this study, as a solution of the above, we propose "Artificial Stars" which are attached on room ceiling as landmarks. In addition, we solve an adoption problem raised when a robot is delivered to a customer site and before it can perform its full navigation capability. We call this as "Initialization Problem" of service robots. We solve the initialization problem for both cases of environment with the map and without map. The proposed system is experimented and has shown how well it handles the initialization problem.

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Development of geoData Aquisition System for Panoramic Image Contents Service based on Location (위치기반 파노라마 영상 콘텐츠 서비스를 위한 geoData 취득 및 처리시스템 개발)

  • Cho, Hyeon-Koo;Lee, Hyung
    • The Journal of the Korea Contents Association
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    • v.11 no.1
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    • pp.438-447
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    • 2011
  • geoContents have been closely related with personal life since the Google Earth and Street View by Google and the Road View by Daum were introduced. So, Location-based content, which is referred to geoContents, involving geometric spacial information and location-based image information is a sharp rise in demand. A mobile mapping system used in the area of map upgrade and road facility management has been having difficulties in satisfying the demand in the cost and time for obtaining these kinds of contents. This paper addresses geoData acquisition and processing system for producing panoramic images. The system consists of 3 devices: the first device is 3 GPS receivers for acquiring location information which is including position, attitude, orientation, and time. The second is 6 cameras for image information. And the last is to synchronize the both data. The geoData acquired by the proposed system and the method for authoring geoContents which are referred to a panoramic image with position, altitude, and orientation will be used as an effective way for establishing the various location-based content and providing them service area.

Ultrasonic Flaw Detection in Turbine Rotor Disc Keyway Using Neural Network (신경회로망을 이용한 터빈로타 디스크 키웨이의 결함 검출)

  • Son, Young-Ho;Lee, Jong-O;Yoon, Woon-Ha;Lee, Byung-Woo;Seo, Won-Chan;Lee, Jong-Kyu
    • Journal of the Korean Society for Nondestructive Testing
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    • v.23 no.1
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    • pp.45-52
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    • 2003
  • A number of stress corrosion cracks in turbine rotor disk keyway in power plants have been found and the necessity has been raised to detect and evaluate the cracks prior to the catastrophic failure of turbine disk. By ultrasonic RF signal analysis and using a neural network based on bark-propagation algorithm, we tried to evaluate the location, size and orientation of cracks around keyway. Because RF signals received from each reflector have a number of peaks, they were processed to have a single peak for each reflector. Using the processed RF signals, scan data that contain the information on the position of transducer and the arrival time of reflected waves from each reflector were obtained. The time difference between each reflector and the position of transducer extracted from the scan data were then applied to the back-propagation neural network. As a result, the neural network was found useful to evaluate the location, size and orientation of cracks initiated from keyway.

Relationships Among Employees' IT Personnel Competency, Personal Work Satisfaction, and Personal Work Performance: A Goal Orientation Perspective (조직구성원의 정보기술 인적역량과 개인 업무만족 및 업무성과 간의 관계: 목표지향성 관점)

  • Heo, Myung-Sook;Cheon, Myun-Joong
    • Asia pacific journal of information systems
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    • v.21 no.4
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    • pp.63-104
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    • 2011
  • The study examines the relationships among employee's goal orientation, IT personnel competency, personal effectiveness. The goal orientation includes learning goal orientation, performance approach goal orientation, and performance avoid goal orientation. Personal effectiveness consists of personal work satisfaction and personal work performance. In general, IT personnel competency refers to IT expert's skills, expertise, and knowledge required to perform IT activities in organizations. However, due to the advent of the internet and the generalization of IT, IT personnel competency turns out to be an important competency of technological experts as well as employees in organizations. While the competency of IT itself is important, the appropriate harmony between IT personnel's business capability and technological capability enhances the value of human resources and thus provides organizations with sustainable competitive advantages. The rapid pace of organization change places increased pressure on employees to continually update their skills and adapt their behavior to new organizational realities. This challenge raises a number of important questions concerning organizational behavior? Why do some employees display remarkable flexibility in their behavioral responses to changes in the organization, whereas others firmly resist change or experience great stress when faced with the need to alter behavior? Why do some employees continually strive to improve themselves over their life span, whereas others are content to forge through life using the same basic knowledge and skills? Why do some employees throw themselves enthusiastically into challenging tasks, whereas others avoid challenging tasks? The goal orientation proposed by organizational psychology provides at least a partial answer to these questions. Goal orientations refer to stable personally characteristics fostered by "self-theories" about the nature and development of attributes (such as intelligence, personality, abilities, and skills) people have. Self-theories are one's beliefs and goal orientations are achievement motivation revealed in seeking goals in accordance with one's beliefs. The goal orientations include learning goal orientation, performance approach goal orientation, and performance avoid goal orientation. Specifically, a learning goal orientation refers to a preference to develop the self by acquiring new skills, mastering new situations, and improving one's competence. A performance approach goal orientation refers to a preference to demonstrate and validate the adequacy of one's competence by seeking favorable judgments and avoiding negative judgments. A performance avoid goal orientation refers to a preference to avoid the disproving of one's competence and to avoid negative judgements about it, while focusing on performance. And the study also examines the moderating role of work career of employees to investigate the difference in the relationship between IT personnel competency and personal effectiveness. The study analyzes the collected data using PASW 18.0 and and PLS(Partial Least Square). The study also uses PLS bootstrapping algorithm (sample size: 500) to test research hypotheses. The result shows that the influences of both a learning goal orientation (${\beta}$ = 0.301, t = 3.822, P < 0.000) and a performance approach goal orientation (${\beta}$ = 0.224, t = 2.710, P < 0.01) on IT personnel competency are positively significant, while the influence of a performance avoid goal orientation(${\beta}$ = -0.142, t = 2.398, p < 0.05) on IT personnel competency is negatively significant. The result indicates that employees differ in their psychological and behavioral responses according to the goal orientation of employees. The result also shows that the impact of a IT personnel competency on both personal work satisfaction(${\beta}$ = 0.395, t = 4.897, P < 0.000) and personal work performance(${\beta}$ = 0.575, t = 12.800, P < 0.000) is positively significant. And the impact of personal work satisfaction(${\beta}$ = 0.148, t = 2.432, p < 0.05) on personal work performance is positively significant. Finally, the impacts of control variables (gender, age, type of industry, position, work career) on the relationships between IT personnel competency and personal effectiveness(personal work satisfaction work performance) are partly significant. In addition, the study uses PLS algorithm to find out a GoF(global criterion of goodness of fit) of the exploratory research model which includes a mediating variable, IT personnel competency. The result of analysis shows that the value of GoF is 0.45 above GoFlarge(0.36). Therefore, the research model turns out be good. In addition, the study performs a Sobel Test to find out the statistical significance of the mediating variable, IT personnel competency, which is already turned out to have the mediating effect in the research model using PLS. The result of a Sobel Test shows that the values of Z are all significant statistically (above 1.96 and below -1.96) and indicates that IT personnel competency plays a mediating role in the research model. At the present day, most employees are universally afraid of organizational changes and resistant to them in organizations in which the acceptance and learning of a new information technology or information system is particularly required. The problem is due' to increasing a feeling of uneasiness and uncertainty in improving past practices in accordance with new organizational changes. It is not always possible for employees with positive attitudes to perform their works suitable to organizational goals. Therefore, organizations need to identify what kinds of goal-oriented minds employees have, motivate them to do self-directed learning, and provide them with organizational environment to enhance positive aspects in their works. Thus, the study provides researchers and practitioners with a matter of primary interest in goal orientation and IT personnel competency, of which they have been unaware until very recently. Some academic and practical implications and limitations arisen in the course of the research, and suggestions for future research directions are also discussed.