http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
윤현권,신광수,이성민,김재확,장완식 朝鮮大學校 機械技術硏究所 1999 機械技術硏究 Vol.2 No.1
This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimated in real time. This is done based on a estimation model that generalizes known manipulator kinematics to accomodate unknown relative camera position and orientation as well as uncertainty of manipulator. Both large-scale trajectory planning and refined placement precision become possible despite an unknown and/or slowly-changing camera-manipulator juxtaposition. Thus, evidence of the ability of manipulator's vision control method, based on the estimation model and vision control method developed in this paper, is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event. It also entails an examination of the limits of placement precision using the presented computer vision system.