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학술대회 Position-Based Visual Servoing of Multiple Robotic Manipulators: Verification in Gazebo Simulator
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저자
노삼열, 박찬원, 박준희
발행일
202010
출처
International Conference on Information and Communication Technology Convergence (ICTC) 2020, pp.843-846
DOI
https://dx.doi.org/10.1109/ICTC49870.2020.9289554
협약과제
20ZR1100, 자율적으로 연결·제어·진화하는 초연결 지능화 기술 연구, 박준희
초록
Today, a paradigm in the manufacturing industry has been shifted from mass production to small and custom production. To adapt to today's industrial expectations, this paper presents position-based visual servoing of multiple robotic manipulators. The presented visual servoing consists of two modules: task planning and motion planning. The task planning module manipulates each robotic arm not to collide with each other by distributing a task to them in a systematic manner. The motion planning module employs the MoveIt framework to solve inverse kinematics for each robotic arm so that it moves each end-effector's pose to the desired pose to complete the task. In addition, the module controls a robotic hand to grasp or release a target object. The presented visual servoing has been tested and verified in the Gazebo simulator.
KSP 제안 키워드
End-effector, Motion Planning, Multiple robotic manipulators, Robotic arm, Task planning, gazebo simulator, inverse kinematics, manufacturing industry, mass production, position-based, robotic hand