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Camera-aided robot calibration

Author: Hanqi Zhuang; Zvi S Roth
Publisher: Boca Raton : CRC Press, ©1996.
Edition/Format:   Print book : EnglishView all editions and formats

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  Read more...


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Document Type: Book
All Authors / Contributors: Hanqi Zhuang; Zvi S Roth
ISBN: 0849394074 9780849394072
OCLC Number: 34658727
Description: v, 353 pages : illustrations ; 24 cm
Contents: 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 General Serial Manipulators Extension of the Hybrid Linear Solution Method to General Serial Robots Numerical Studies Summary and References Simultaneous Calibration of a Robot and a Hand-Mounted Camera Introduction Kinematic Model, Cost Function, and Solution Strategy The Identification Jacobian Implementation Issues Extension to Stereo-Camera Case Summary and References Robotic Hand/Eye Calibration Introduction Review of Quaternion Algebra A Linear Solution A Nonlinear Iterative Solution Simulation Results Discussion and References Robotic Base Calibration Introduction Problem Statement Estimation of the Base Orientation Estimation of the Base Position Experimental Results Summary and References Simultaneous Calibration of Robotic Base and Tool Introduction Problem Statement A Linear Solution Simulation Studies Summary and References Robot Accuracy Compensation Introduction Workspace-Mapping Method Model-Based Pose-Redefinition Algorithm Gradient-Based Algorithms Summary and References Selection of Robot Measurement Configurations Introduction Problem Statement Two Simple Search Algorithms Configuration Selection by Simulated Annealing Algorithms Summary and References Practical Considerations and Case Studies Introduction Practical Considerations Calibration of the PUMA Arm Calibration of a SCARA Arm Summary and References References Appendices Summary of Basic Concepts in Matrix Theory Least Squares Techniques Sensitivity Analysis Index
Responsibility: Hanqi Zhuang, Zvi S. Roth.


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