선재 롤 교체 로봇의 영상처리 알고리즘 개발 = Vision-Based Roll Change Robot in Hot Wire Factory

다국어 초록 (Multilingual Abstract)

This paper presents the successfully developed visual servoing robot that must satisfy less than ±1㎜ accuracy and ±0.5㎜ repeatability requirements in the process of changing rolls used to deform the diameter of rod in steel work. To achieve research objectives, visual servo controller is developed to enable a robot end-effector to track a desired position as determined by a sequence of images from pin-hole camera mounted in the center of end-effector. To do this, 3D alignment task using a ring pattern is developed to compensate for end-effector position errors and the practically efficient line segment detection method is developed to determine an insertion angle for an elaborate locking between insert pin and unit with the less than ±0.5° accuracy as well.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 문제점 정의
• Ⅲ. 링 패턴을 이용한 3차원 위치 보상 방법
• Ⅴ. 실험결과
• Ⅵ. 결론
• 참고문헌