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3D 비접촉 인식을 이용한 냉연코일 테이프부착 로봇 개발
신찬배(Chan-Bai Shin),김진대(Jin-Dae Kim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.11
Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil’s information. In the proposed robot system for tape attachment, the problem is reduced to coil’s radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot’s base frame, the hand-eye compensation between robot’s end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.
CCD카메라와 레이저 센서를 조합한 지능형 로봇 빈-피킹에 관한 연구
신찬배(Chan-Bai Shin),김진대(Jin-Dae Kim),이재원(Jeh-Won Lee) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
In this paper we present a new visual approach for the robust bin-picking in a two-step concept for a vision driven automatic handling robot. The technology described here is based on two types of sensors: 3D laser scanner and CCD video camera. The geometry and pose(position and orientation) information of bin contents was reconstructed from the camera and laser sensor, these information can be employed to guide the robotic arm. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed bin-picking demonstrate the successful operation with 3D hole object.
구조화 레이저를 이용한 PC 기반 인-라인 검사 시스템 개발에 관한 연구
신찬배(Chan-Bai Shin),김진대(Jin-Dae Kim),임학규(Hak-Kyu Lim),이재원(Jeh-Won Lee) Korean Society for Precision Engineering 2005 한국정밀공학회지 Vol.22 No.11
Recently, the in-line vision inspection has become the subject of growing research area in the visual control systems and robotic intelligent fields that are required exact three-dimensional pose. The objective of this article is to study the pc based in line visual inspection with the hand-eye structure. This paper suggests three dimensional structured light measuring principle and design method of laser sensor header. The hand-eye laser sensor have been studied for a long time. However, it is very difficult to perform kinematical analysis between laser sensor and robot because the complicated mathematical process are needed for the real environments. In this problem, this paper will propose auto-calibration concept. The detail process of this methodology will be described. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed in-line inspection module demonstrate the successful operation with hole, gap, width or V edge.
로봇 OLP 보상을 위한 시각 서보잉 응용에 관한 연구
김진대(Jin-Dae Kim),신찬배(Chan-Bai Shin),이재원(Jeh-Won Lee) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.4
It is necessary to improve the exactness and adaptation of the working environment in the intelligent robot system. The vision sensor have been studied for this reason for a long time. However, it is very difficult to perform the camera and robot calibrations because the three dimensional reconstruction and many processes are required for the real usages. This paper suggests the image based visual servoing to solve the problem of old calibration technique and supports OLP(Off-Line-Programming) path compensation. Virtual camera can be modeled from the real factors and virtual images obtained from virtual camera gives more easy perception process. Also, Initial path generated from OLP could be compensated by the pixel level acquired from the real and virtual, respectively. Consequently, the proposed visually assisted OLP teaching remove the calibration and reconstruction process in real working space. With a virtual simulation, the better performance is observed and the robot path error is calibrated by the image differences.
레이저빔 수직투사 구조의 시각장치를 이용한 실시간용접선추적 시스템
김진대(Jin-Dae Kim),신찬배(Chan-Bai Shin),이재원(Jeh-Won Lee) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.10
Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam’s vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.
CCD카메라와 레이저 센서를 조합한 지능형 로봇 빈-피킹에 관한 연구
김진대(Jin-Dae Kim),신찬배(Chan-Bai Shin),이재원(Jeh-Won Lee) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.11
Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.
시간지연 시스템을 위한 리아푸노브 이론 기반 상태 피드백 제어기 설계
조현철(Hyun Cheol Cho),신찬배(Chan Bai Shin) 대한전기학회 2013 전기학회논문지 Vol.62 No.1
This paper presents a new state feedback control approach for communication networks based control systems in which control input and output observation time-delay natures are generally occurred in practice. We first establish a generic state feedback control framework based on well-known linear system theory. A maximum time-delay value which allows critical stability of whole control system are defined to make a positive definite Lyapunov function which is mathematically composed of controlled system states. We analytically derive its control parameters by using a steepest descent optimization method in order to guarantee a stability condition through Lyapunov theory. Computer simulation is numerically carried out for demonstrating reliability of the proposed NCS algorithm and a comparative study is accomplished to prove its superiority for which the traditional control approach for NCS is made use of under same simulation scenarios.
김진대(Jin-Dae Kim),이재원(Jeh-Woon Lee),신찬배(Chan-Bai Shin) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.5
The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.