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
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.29 No.9
- 발행연도
- 2012.9
- 수록면
- 986 - 994 (9page)
이용수
이 논문의 연구 히스토리 (9)
2013
2011
2010
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera’s focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.
목차
1. 서론
2. 로봇 비젼 제어알고리즘
3. 실험장치 및 방법
4. 실험결과
5. 결론
후기
참고문헌
참고문헌 (13)
참고문헌 신청
John, J. C. / 1989 / Introduction to Robotics Mechanics and Control, 2nd ed. / Addison-Wesley :84
Junkins, J. L. / 1978 / An Introduction to Optimal Estimation of Dynamical Systems / Sijthoff and Noordhoff :29~33
David, F. / 1978 / Statistics / W. W. Norton :58~59
Kelly, R. / 2000 / Stable Visual Servoing of Camerainhand Robotics Systems / IEEE/ASME Trans. on Mechatronics 5(1):39~48
Yoshihiro, T. / 1996 / Positioning-Control of Robot Manipulator Using Visual Sensor / Int. Conference on Control, Automation, Robotics, and Vision :894~898
Junkins, J. L. / 1978 / An Introduction to Optimal Estimation of Dynamical Systems / Sijthoff and Noordhoff :29~33
David, F. / 1978 / Statistics / W. W. Norton :58~59
Kelly, R. / 2000 / Stable Visual Servoing of Camerainhand Robotics Systems / IEEE/ASME Trans. on Mechatronics 5(1):39~48
Yoshihiro, T. / 1996 / Positioning-Control of Robot Manipulator Using Visual Sensor / Int. Conference on Control, Automation, Robotics, and Vision :894~898
이 논문의 저자 정보
이 논문과 함께 이용한 논문
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2013-555-003391816