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
- 2014.2
- 수록면
- 218 - 222 (5page)
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초록· 키워드
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In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot’s coordinates, and the geometric relation (i.e. rotation and translation) between the robot’s coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot’s TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.
목차
Abstract
Ⅰ. 서론
Ⅱ. 회전행렬 상수화
Ⅲ. 축 별 보정량 계산
Ⅳ. 실혐 결과
Ⅴ. 결론
REFERENCES
참고문헌 (10)
참고문헌 신청
1. [학술지(정기간행물)] - 김진대 / 2003 / 원형 지그를 이용한 레이저-비젼 센서의 가상 공간 교정에 관한 연구 / 한국정밀공학회지 20 (12) : 73 ~ 79
3. [학술대회논문] - L. Suyi / 2008 / Fast calibration for robot welding system with laser vision / Proc. of the IEEE Conference on Robotics, Automation and Mechatronics : 706 ~ 710
4. [인터넷자원] - / / Laser Vision Sensor of Meta Vision MT10-15
5. [학술지(정기간행물)] - Z. Zhang / 2000 / flexible new technique for camera calibration,”Pattern Analysis and Machine Intelligence / IEEE Transactions on 22 (11) : 1330 ~ 1334
6. [학술지(정기간행물)] - H. Luo / 2005 / Laser visual sensing for seam tracking in robotic arc welding of titanium alloys / The International Journal of Advanced Manufacturing Technology 26 : 1012 ~ 1017
3. [학술대회논문] - L. Suyi / 2008 / Fast calibration for robot welding system with laser vision / Proc. of the IEEE Conference on Robotics, Automation and Mechatronics : 706 ~ 710
4. [인터넷자원] - / / Laser Vision Sensor of Meta Vision MT10-15
5. [학술지(정기간행물)] - Z. Zhang / 2000 / flexible new technique for camera calibration,”Pattern Analysis and Machine Intelligence / IEEE Transactions on 22 (11) : 1330 ~ 1334
6. [학술지(정기간행물)] - H. Luo / 2005 / Laser visual sensing for seam tracking in robotic arc welding of titanium alloys / The International Journal of Advanced Manufacturing Technology 26 : 1012 ~ 1017
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UCI(KEPA) : I410-ECN-0101-2015-560-001117666