스테레오 비전을 이용한 6 자유도 로봇 암의 진동 측정

Abstract

In this paper, six-degree-of-freedom (DOF) Vibration measurement technique using a stereo-vision system is proposed. The measuring system consists of two cameras and the measured object is composed of an end-effector and an artifact. The artifact was attached on the end-effector so that its six-DOF vibration can be calculated using a proposed coordinates estimating algorithm and stereo images of the artifact. A prototype was designed and fabricated for performance test. From the test results, it can be confirmed that the proposed measuring technique can be applied to various manipulator for reducing the effect of vibration.