매니퓰레이터 로봇의 기구학 파라미터 보정에 사용되는 구조광의 정밀성 향상을 위한 영상처리 알고리즘

Abstract

The machining tolerance and assembly error in the robot mechanism cause deterioration of the control precision of the articulated manipulator robot. To handle this problem, a correction algorithm should be used. The algorithm can be classified into a contact-based method and a non-contact-based method. This paper deals with a non-contact correction method using a structured light and subsequent image processing algorithm to estimate a laser point projected onto a screen to improve the measurement accuracy of non-contact method. In the conventional method, the laser image on the screen observed by the camera was simply assumed to be a single point. However, the actual observed image has an area of a size that is difficult to ignore. In addition, there is a significant time delay between the actual point and the captured point from the frame grabber of the computer vision. Consequently, these reduce the estimation accuracy. To improve the estimation performance, mathematical model-based image processing algorithm is proposed to handle these two major prerequisites. Testbed system was developed with an embedded computer vision system to implement the algorithm. The performance was verified by comparing the actual point from the high resolution encoder signal and the estimated point from the proposed algorithm.