Visual servoing robot system for wireless power transmission to wireless sensor node = 무선 센서노드의 무선 전력 공급을 위한 비쥬얼 서보잉 로봇 시스템

As a structure increases in volume, the wireless sensor-based structural health monitoring system has been gained great attention for assessing the structural condition. Since the wireless sensor node system uses batteries, however, it has some limitations such as a limited lifetime and a relatively short data transmission range. To cope with these problems, the research of wireless power transmission to wireless sensor node has been actively progressed. In this thesis, visual servoing robot system is proposed for laser based wireless power tranmission system to point the laser at the sensor node. The proposed system consists of a vision sensor, a 2-DOF serial manipualator and a laser pointer. It can control the laser point to target the sensor node using inverse kinematics and visual servoing technique. Visual servoing is to minimize the error of the position between the position of the target and the point of the laser after inverse kinematics control. The experimental results show the feasibility that the proposed robot system can be applied to the wireless power transmissition system.
Advisors
Myung, Hyunresearcher명현researcher
Publisher
한국과학기술원
Issue Date
2010
Identifier
455133/325007  / 020084059
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2010.08, [ vii, 48 p. ]

Keywords

visual servoing; servoing; vision; Robot; targeting; 타겟팅; 비쥬얼 서보잉; 서보잉; 비젼; 로봇

URI
http://hdl.handle.net/10203/54249
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=455133&flag=t
Appears in Collection
RE-Theses_Master(석사논문)
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