Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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An Experimental Study on the Optimal Arrangement of Cameras Used for the Robot's Vision Control Scheme

로봇 비젼 제어기법에 사용된 카메라의 최적 배치에 대한 실험적 연구

  • 민관웅 (조선대학교 대학원 기계공학과) ;
  • 장완식 (조선대 기계공학과)
  • Published : 2010.02.15
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Abstract

The objective of this study is to investigate the optimal arrangement of cameras used for the robot's vision control scheme. The used robot's vision control scheme involves two estimation models, which are the parameter estimation and robot's joint angle estimation models. In order to perform this study, robot's working region is divided into three work spaces such as left, central and right spaces. Also, cameras are positioned on circular arcs with radius of 1.5m, 2.0m and 2.5m. Seven cameras are placed on each circular arc. For the experiment, nine cases of camera arrangement are selected in each robot's work space, and each case uses three cameras. Six parameters are estimated for each camera using the developed parameter estimation model in order to show the suitability of the vision system model in nine cases of each robot's work space. Finally, the robot's joint angles are estimated using the joint angle estimation model according to the arrangement of cameras for robot's point-position control. Thus, the effect of camera arrangement used for the robot's vision control scheme is shown for robot's point-position control experimentally.

Keywords

References

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