Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Stability Study on Visual Servoing using Dynamic Calibration

동적 보정을 이용한 비주얼 서보잉에서 안정성에 관한 연구

  • 김진대 (영남대학교 대학원 기계공학과) ;
  • 조영식 (영남대학교 대학원 기계공학과) ;
  • 이상화 (영남대학교 대학원 기계공학과) ;
  • 이재원 (영남대학교 기계공학과)
  • Published : 2003.10.01
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Abstract

Many visual servoing algorithms have been recently developed by the robot vision researchers. They do not, however, consider the stability of servoing system. The camera calibration is the most important factor to the control stability and performance of position based visual servoing. In this article we describe the ECL(End Point Closed Loop) servoing can make no steady state error for the control of 6-DOF robot of which accuracy is dependent on the camera calibration and kinematics. And we propose a dynamic calibration algorithm, which can improve stability and performance of ECL visual servoing. To verify the potential of our approach, we run assembly experiments and present our finding.

Keywords

References

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