Visual servoing robot system for wireless power transmission to wireless sensor node

Abstract

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.