불연속적인 궤적에서 로봇 점 배치 작업에 사용된 비젼 제어기법의 실용성에 대한 실험적 연구

Abstract

This study is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models. These are : a) the robot kinematics model developed based on Denavit-Hartenberg notation, b) the vision system model with six-parameters showing the relationship between 2-D camera image plane and 3-D robot kinematics model, c) the parameters estimation model developed by minimizing the performance index explaining error between actual vision data and vision system model, and d) the joint angle estimation model developed by minimizing the performance index explaining error between target point and vision system model based on the parameter estimation model. For the experiment of this study, the discontinuous trajectory by obstacle is divided into three obstacle regions. These are : a) initial obstacle region, b) intermediate obstacle region, and c) final obstacle region. Each obstacle region consists of 3 cases according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.