지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.8
- 수록면
- 386 - 394 (9page)
이용수
이 논문의 연구 히스토리 (9)
2013
2011
2010
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초록· 키워드
오류제보하기
This paper 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, which are the robot’s kinematic model, vision system model, 6-parameters estimation model, and robot’s joint angles estimation model.
For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. 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.
For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. 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.
목차
Abstract
1. 서론
2. 로봇 비젼 제어기법
3. 실험장치 및 방법
4. 비젼 시스템 모델 적합성 실험결과
5. 로봇 점 배치작업 실험결과
6. 결론
후기
참고문헌
참고문헌 (11)
참고문헌 신청
1. [단행본] - John, J. C. / 1989 / Introduction to Robotics Mechanics and Control, second edition / Addison-Wesley : 84 ~
2. [단행본] - Junkins, J. L. / 1978 / An Introduction to Optimal Estimation of Dynamical Systems / Sijthoff and Noordhoff : 29 ~ 33
3. [단행본] - David, F / 1978 / Statistic / W. W. Norton : 58 ~ 59
4. [학술지(정기간행물)] - Kelly, R. / 2000 / Stable Visual servoing of camera-inhand robotics systems / IEEE/ASME Trsns. on Mechatronics 5 (1) : 39 ~ 48
5. [학술대회논문] - Yoshihiro, T. / 1996 / Positioning-Control of Robot Manipulator Using Visual Sensor / Int. Conference on Control, Automation, Robotics and Vision : 894 ~ 898
2. [단행본] - Junkins, J. L. / 1978 / An Introduction to Optimal Estimation of Dynamical Systems / Sijthoff and Noordhoff : 29 ~ 33
3. [단행본] - David, F / 1978 / Statistic / W. W. Norton : 58 ~ 59
4. [학술지(정기간행물)] - Kelly, R. / 2000 / Stable Visual servoing of camera-inhand robotics systems / IEEE/ASME Trsns. on Mechatronics 5 (1) : 39 ~ 48
5. [학술대회논문] - Yoshihiro, T. / 1996 / Positioning-Control of Robot Manipulator Using Visual Sensor / Int. Conference on Control, Automation, Robotics and Vision : 894 ~ 898
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UCI(KEPA) : I410-ECN-0101-2013-552-000272824