Camera-Aided Robot Calibration

ISBN-13: 9780849394072 / Angielski / Twarda / 1996 / 368 str.

Hanqi Zhuang; Zhuang Zhuang; Hangi Zhuang

Opis

This work provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It covers in detail the subject of autonomous calibration (self-calibration), addresses the issue of optimal configuration selections, and presents a linear approach for the estimation of kinematic parameters. In addition, there is a review of robot kinematic modelling and compensation.

Recenzje

"...addresses both the concepts and implementation of robot calibration using computer vision technology...well written and clearly presented...figures associated with the text not only help in understanding the mathematics, but the photographs assist in visualising actual calibration systems."
--Industrial Robot: An International Journal, Vol. 27, No. 6

Spis treści

Introduction. Camera Calibration. Kinematic Modeling for Robot Calibration. Pose Measurement with Cameras. Error-Model-Based Kinematic Identification. Kinematic Identification: Linear Solution Approaches. Simultaneous Calibration of a Robot and a Hand-Mounted Camera. Robotic Hand/Eye Calibration. Robotic Base Calibration. Simultaneous Calibration of Robotic Base and Tool. Robot Accuracy Compensation. Selection of Robot Measurement Configurations. Practical Considerations and Case Studies. References. Appendices. Index.

OTIs: 7981, 4468, 4457

O autorze

Zhuang, Hangi | Roth, Zvi S.