Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Development of Robot Vision Control Schemes based on Batch Method for Tracking of Moving Rigid Body Target

강체 이동타겟 추적을 위한 일괄처리방법을 이용한 로봇비젼 제어기법 개발

  • Received : 2018.08.27
  • Accepted : 2018.09.06
  • Published : 2018.10.31
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Abstract

This paper proposed the robot vision control method to track a moving rigid body target using the vision system model that can actively control camera parameters even if the relative position between the camera and the robot and the focal length and posture of the camera change. The proposed robotic vision control scheme uses a batch method that uses all the vision data acquired from each moving point of the robot. To process all acquired data, this robot vision control scheme is divided into two cases. One is to give an equal weight for all acquired data, the other is to give weighting for the recent data acquired near the target. Finally, using the two proposed robot vision control schemes, experiments were performed to estimate the positions of a moving rigid body target whose spatial positions are unknown but only the vision data values are known. The efficiency of each control scheme is evaluated by comparing the accuracy through the experimental results of each control scheme.

Keywords

References

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