Korean Journal of Computational Design and Engineering (한국CDE학회논문집)

Society for Computational Design and Engineering (한국CDE학회)
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Sampling-based Control of SAR System Mounted on A Simple Manipulator

간단한 기구부와 결합한 공간증강현실 시스템의 샘플 기반 제어 방법

  • Lee, Ahyun (Computer Software, Korea University of Science and Technology) ;
  • Lee, Joo-Ho (College of Information Science and Engineering, Ritsumeikan University) ;
  • Lee, Joo-Haeng (HRI Lab., Electronics and Telecommunications Research Institute)
  • 이아현 (과학기술연합대학교대학원 컴퓨터소프트웨어전공) ;
  • 이주호 (리츠메이칸 대학교 정보이공학부) ;
  • 이주행 (한국전자통신연구원 HRI연구팀)
  • Received : 2014.07.30
  • Accepted : 2014.09.01
  • Published : 2014.12.01
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Abstract

A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.

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References

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