로봇 위치 제어를 위해 사용된 카메라의 배치에 따른 비젼 시스템 모델의 효율성에 관한 연구

Abstract

ABSTRACT

A study on the effectiveness of vision system according to the arrangement of cameras used for robot's position control

Min Kwan Ung Advisor : Prof. Jang Wan Shik Ph.D. Department of Mechanical Engineering, Graduate School of Chosun University

The objective of this thesis is to investigate the effectiveness of the vision system according to the arrangement of cameras used for robot's position control. The used vision system model with six parameters involves two estimation models, which are the parameter estimation and robot's joint angle estimation models. The parameter estimation model is developed based on a model that generalizes the known robot kinematics to accommodate the unknown relative camera position and orientation. Also, the robot's joint angle estimation model is developed based on the parameter estimation depending on each camera. In order to perform this study, robot's working region divided into three work spaces such as left, center and right space. 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. Then, the robot's joint angles are estimated using the joint angle estimation model according to the arrangement of cameras for robot's position control. Thus, the effect of camera arrangement to the vision system model is investigated for robot's point position control. Finally, the robot's slender bar position control is performed using the optimal arrangement of cameras in each robot's work space, based on the above results of robot's point position control, in order to demonstrate the effectiveness of the vision system experimentally.