이동타겟 추적을 위한 데이터이동법을 이용한 로봇비젼 제어기법 개발

This paper proposes a review of the robot’s vision control scheme using the data moving method, to improve the accuracy and processing speed for the tracking of a moving target. The vision system model, which can actively adjust the camera parameters for the camera and robot position changes is used for this study. The method of processing the vision data obtained during robot movement toward the target can be classified into a batch method using all the acquired data, and a data moving method using only limited data. In an effort to reduce the number of vision data obtained while the robot moves toward the target, the proposed control scheme estimates the optimal number of robot moving points near the target, to exclude the old data and use only the limited data obtained near the target recently. In this study, limited data are utilized. In order to show the effectiveness of the proposed control scheme, we set the control method based on the batch processing method, and then compared these two results with the accuracy and the processing time by performing the experiments of the slender-bar moving target tracking method.