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Journal Article
Data-Driven Kinematic Control for Robotic Spatial Augmented Reality System with Loose Kinematic Specifications
- Authors
- Ahyun Lee, Joo-Haeng Lee, Jaehong Kim
- Issue Date
- 2016-04
- Citation
- ETRI Journal, v.38, no.2, pp.337-346
- ISSN
- 1225-6463
- Publisher
- 한국전자통신연구원 (ETRI)
- Language
- English
- Type
- Journal Article
- Abstract
- We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projectorcamera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.
- KSP Keywords
- Ad hoc, Assembly errors, Augmented reality(AR), Augmented reality system, B-Spline, Data-Driven, Differential equation, Joint configuration, Kinematic control, Off-line, Robotic device