Camera-Aided Robot Calibration

; Zvi S. Roth

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. Les mer
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Leveringstid: Sendes innen 21 dager
På grunn av Brexit-tilpasninger og tiltak for å begrense covid-19 kan det dessverre oppstå forsinket levering.

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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!

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Innholdsfortegnelse

Introduction
Motivation
Historical Perspective
Camera Calibration
Introduction
Camera Models
Tsai's RAC-Based Camera Calibration Algorithm
A Fast RAC-Based Algorithm
Optical Axis Perpendicular to the Calibration Board
Nonlinear Least-Squares Approach
Estimation of the Ratio of Scale Factors
Estimation of the Image Center
Perspective Projection Distortion of Circular Calibration Points
Simulation and Experimental Results
Summary and References
Kinematic Modeling for Robot Calibration
Introduction
Basic Concepts in Kinematics
The Denavit-Hartenberg Model and Its Modification
The CPC Model and the MCPC Model
Relationship Between the CPC Model and Other Kinematic Models
Parametric Continuity - General Treatment
Singularities of the MCPC Model
Discussions and References
Pose Measurement with Cameras
Introduction
System Configurations
Pose Measurement with Moving Cameras
Identification of the Relationship between Robot End-Effector and Camera
Summary and References
Error-Model-Based Kinematic Identification
Introduction
Differential Transformations
Finite Difference Approximation to Kinematic Error Models
Generic Linearized Kinematic Error Models
The D-H Error Model
The CPC Error Model
The MCPC Error Model
Summary and References
Kinematic Identification: Linear Solution Approaches
Introduction
Problem Formulation and a Solution Strategy
A Hybrid Linear Solution for an All-Revolute Robot
An All-Recursive Linear Solution Approach for