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Book Cover
Author Zhuang, Hangi, author

Title Camera-aided robot calibration / by Hangi Zhuang and Zvi S. Roth
Edition First edition
Published Boca Raton, FL : Taylor and Francis, an imprint of CRC Press, [2018]
Online access available from:
ProQuest Ebook Central    View Resource Record  


Description 1 online resource (368 pages) : 40 illustrations
Contents Chapter 1 Overview of Robot Calibration / Hanqi Zhuang -- chapter 2 Camera Calibration Techniques / Hanqi Zhuang -- chapter 3 Kinematic Modeling for Robot Calibration / Hanqi Zhuang -- chapter 4 Pose Measurement With Cameras / Hanqi Zhuang -- chapter 5 Error-Model-Based Kinematic Identification / Hanqi Zhuang -- chapter 6 Kinematic Identification -- Linear Solution Approaches / Hanqi Zhuang -- chapter 7 Simultaneous Calibration of a Robot and a Hand-Mounted Camera / Hanqi Zhuang -- chapter 8 Robotic Hand/Eye Calibration / Hanqi Zhuang -- chapter 9 Robotic Base Calibration / Hanqi Zhuang -- chapter 10 Simultaneous Calibration Of Robotic Base And Tool / Hanqi Zhuang -- chapter 11 Robot Accuracy Compensation / Hanqi Zhuang -- chapter 12 Selection of Robot Measurement Configurations / Hanqi Zhuang -- chapter 13 Practical Considerations and Case Studies / Hanqi Zhuang
Summary Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!
Bibliography Includes bibliographical references and index
Subject Calibratie
Robots -- Calibration.
Form Electronic book
Author Roth, Zvi S., author.
ISBN 1315138727