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As flexibility becomes an important factor in factory automation, the bin-picking system, where a robot performs pick-and-place tasks for randomly piled parts in a bin through measuring the 3D pose of an object by a 3D vision sensor, has been actively studied. However, conventional bin-picking systems that are employed for particular tasks are limited by such things as the FOV (Field of View), the shape of landmark features, and computation time. This paper proposes a general-purpose stereo vision based bin-picking system. To detect the workpiece to be picked, a geometric pattern matching (GPM) method with respect to the 2D image with a wide FOV is applied. The accurate 3D pose of a se-lected workpiece among the pick-up candidates is acquired by measuring the 3D positions of three features in the workpiece using the stereo camera. In order to improve the 3D position estimation per-formance, the GPM method is also used instead of the stereo matching method. The multiple pattern registration and ellipse fitting techniques are additionally applied to increase the reliability. The grasp position of a workpiece without collision is determined using the pose of the object and the bin infor-mation. By using these methods a practical bin-picking strategy is established to operate robustly with minimum help from the human workers in the factory. Through experiments on commercial industrial workpieces and industrial robot, we validated that the proposed vision system accurately measures the 3D pose of part and the robot successfully manipulates the workpiece among randomly stacked parts.

권호기사

권호기사 목록 테이블로 기사명, 저자명, 페이지, 원문, 기사목차 순으로 되어있습니다.
기사명 저자명 페이지 원문 목차
Exponential stability analysis of planar piecewise-linear systems : an integral function approach Kai Liu, Yu Yao, Baoqing Yang, Venkataramanan Balakrishnan, Yang Guo pp.203-212

Stable controller design of MIMO systems in real Grassmann space Su-Woon Kim, Chang-Jin Boo, Sin Kim, Ho-Chan Kim pp.213-226

Robust consensus for networked mechanical systems with coupling time delay Haibo Min, Shicheng Wang, Fuchun Sun, Jinsheng Zhang pp.227-237

Modeling and stability analysis of hybrid dynamical systems based on extended differential petri nets Guopei Chen, Ying Yang, Junmin Li pp.238-248

Solving a class of nonlinear optimal control problems via he's variational iteration method Mohammad Shirazian, Sohrab Effati pp.249-256

2D system approach based output feedback repetitive control for uncertain discrete-time systems Wentao Chen, Yechun Lin pp.257-264

Fault detection for a class of networked nonlinear systems subject to imperfect measurements Xiongbo Wan, Huajing Fang, Fang Yang pp.265-274

An investigation into vehicle rollover prevention by coordinated control of active anti-roll bar and electronic stability program Seongjin Yim, Kwangki Jeon, Kyongsu Yi pp.275-287

Performance analysis of an INS/SLAM integrated system with respect to the geometrical arrangement of multiple vision sensors Sebum Chun, Dae Hee Won, Moon-Beom Heo, Young Jae Lee pp.288-297

A theoretical approach to observability analysis of the SDINS/GPS in maneuvering with horizontal constant velocity Young Min Yoo, Joon Goo Park, Dal Ho Lee, Chan Gook Park pp.298-307

Simulation and control of hybrid electric vehicles Vu Trieu Minh, John Pumwa pp.308-316

Driver's eye blinking detection using novel color and texture segmentation algorithms Artem A. Lenskiy, Jong-Soo Lee pp.317-327

Measuring pedestrian traffic using feature-based regression in the spatiotemporal domain Gwang-Gook Lee, Whoi-Yul Kim pp.328-340

Robotic manipulators employing a bevel gravity compensator Changhyun Cho, Woosub Lee, Sungchul Kang pp.341-349

The leader-follower formation control of nonholonomic mobile robots Yanyan Dai, Suk-Gyu Lee pp.350-361

Stereo vision based automation for a bin-picking solution Jong-Kyu Oh, Sukhan Lee, Chan-Ho Lee pp.362-373

Comparative study of optimization technique for the global performance indices of the robot manipulator based on an approximate model Hyunseop Lim, Soonwoong Hwang, Kyoosik Shin, Changsoo Han pp.374-382

Exploration of local surface geometry with minimum number of contact points and surface normal information Tri Cong Phung, Min Jeong Kim, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi pp.383-395

Robust model reference adaptive intelligent control Raghupathy Prakash, Rajapalan Anita pp.396-406

Data preprocessing using hybrid general regression neural networks and particle swarm optimization for remote terminal units Wen-Hui Chen, Jun-Horng Chen, Shih-Chun Shao pp.407-414

Adaptive synchronization of the complex dynamical network with double non-delayed and double delayed coupling Yuhua Xu, Wuneng Zhou, Jian-an Fang pp.415-420

Robust adaptive motion control for underwater remotely operated vehicles with velocity constraints Zhijun Li, Chenguang Yang, Nan Ding, Stjepan Bogdan, Tong Ge pp.421-429

A fuzzy cerebellar model articulation controller based visual servo system for robot Wei Sun, Cong Wang, Dexu Bu, Shengnan Liu, Baoqiang Wu, Minghua Ouyang pp.430-436

RBF neural networks-based robust adaptive tracking control for switched uncertain nonlinear systems Lei Yu, Shumin Fei, Xun Li pp.437-443

Fault tolerant control for discrete networked control systems with random faults Engang Tian, Chen Peng, Zhou Gu pp.444-448

참고문헌 (23건) : 자료제공( 네이버학술정보 )

참고문헌 목록에 대한 테이블로 번호, 참고문헌, 국회도서관 소장유무로 구성되어 있습니다.
번호 참고문헌 국회도서관 소장유무
1 B. Habibi, “Single camera 3DTM(SC3DTM) a novel technology for guidance of industrial robots in three-dimensional space,” Braintech, 2002. 미소장
2 J.-K. Oh, C.-H. Lee, S.-H. Lee, J.-S. Hur, and S. Lee “Development of a 3D vision guided robotic system using stereo vision,” Proc. of the 39th In-ternational Symposium on Robotics, pp. 2-7, Octo-ber 2008. 미소장
3 W. Hardin, “Vision enables freestyle bin-picking,” Vision System Design, Jun. 2007. 미소장
4 W. Iversen, “Vision-guided robotics: in search of the holy grail,” Automation World, February 2006. 미소장
5 K. Ban, F. Warashina, I. Kanno, and H. Kumiya, “Industrial intelligent robot,” FANUC Tech. Rev., vol. 16, no. 2, pp. 29-34, 2003. 미소장
6 K. Rahardja and A. Kosaka, “Vision-based bin-picking: recognition and localization of multiple complex objects using simple visual cues,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1448-1457, Nov. 1996. 미소장
7 M. Berger, G. Bachler, and S. Scherer, “Vision guided bin picking and mounting in a flexible assembly cell,” Proc. of the 13th International Conference on Industrial & Engineering Applications of Artificial Intelligence and Expert Systems, pp. 109-118, 2000. 미소장
8 Point Grey Research Inc., http://www.ptgrey.com 미소장
9 Videre Design LLC, http://www.videredesign.com 미소장
10 Intelligent picking of chaotically stored objects 네이버 미소장
11 J.-K. Oh and C.-H. Lee, “Development of a stereo vision based position measurement algorithm for the randomly piled objects,” Proc. of International Conference on Advanced Robotics, pp. 64-69, Au-gust 2007. 미소장
12 Segmentation and Location Computation of Bin Objects 네이버 미소장
13 Cognex Corporation, “PatMax and PatQuick,” Cognex, 2005. 미소장
14 A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms 네이버 미소장
15 Laser ranging and video imaging for bin picking 네이버 미소장
16 Review of 20 years of range sensor development 네이버 미소장
17 R. Hartley and A. Zisserman, “Multiple view geometry in computer vision,” Cambridge Press, 2000. 미소장
18 C. J. Harris and M. Stephens, “A combined corner and edge detector,” Proc. 4th Alvey Vision Conf., Manchester, pp. 147-151, 1988. 미소장
19 Hand-Eye Calibration 네이버 미소장
20 Hyundai Heavy Industry Co., Ltd., Hi5 Robot Controller Manual, Hyundai Heavy Industry, 2008. 미소장
21 P. Mittrapiyanuruk, G. N. DeSouza, and A. C. Kak, “Calculating the 3D-pose of rigid objects using ac-tive appearance models,” Proc. of the Int. Confer-ence in Robotics and Automation, pp. 5147-5152, 2004. 미소장
22 D.-J. Kang, J.-E. Ha, and M.-H. Jeong, “Detection of calibration patterns for camera calibration with irregular lighting and complicated backgrounds,” International Journal of Control, Automation, and Systems, vol. 6, no. 5, pp. 746-754, 2008. 미소장
23 http://www.robotworld.or.kr 미소장

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