ROS 기반 비전 시스템을 이용한 마커 위치 추정 및 로봇 매니퓰레이터 제어

초록

Recently, with the continued growth of businesses and sales using robots, the scope of robot-related industries is expanding, and industrial robots are playing a key role in smart factories. However, recently, various studies are being conducted using video data about robots and the surrounding environment to automate not only general industrial types required in industrial sites but also highly intelligent industrial sites. In this paper, we acquire vision camera data for identification marker position estimation information through the Robot Operating System(ROS) platform and propose a robot manipulator control system based on this. The marker position arrival and accuracy of the robot manipulator were measured through simulation and real environments. As a result of the experiment, the average time to reach the marker was 6.61 seconds, and the Root Mean Squared Error(RMSE) between the marker coordinates and the actual end effector coordinates was 0.0125.

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