
Camera Aided Robot Calibration
CRC Press
1st Edition
Published on 27. June 1996
Book
Hardback
370 pages
978-0-8493-9407-2 (ISBN)
Description
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!
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!
Reviews / Votes
"...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
More details
Language
English
Place of publication
Bosa Roca
United States
Publishing group
Taylor & Francis Inc
Target group
Professional and scholarly
Professional
Illustrations
9 s/w Photographien bzw. Rasterbilder, 31 s/w Tabellen
9 figs., 31 tabs.
Dimensions
Height: 240 mm
Width: 161 mm
Thickness: 24 mm
Weight
719 gr
ISBN-13
978-0-8493-9407-2 (9780849394072)
Schweitzer Classification
Other editions
Additional editions

Hangi Zhuang | Zvi S. Roth
Camera-Aided Robot Calibration
Book
06/2020
1st Edition
CRC Press
€94.50
Shipment within 15-20 days

Hangi Zhuang | Zvi S. Roth
Camera-Aided Robot Calibration
E-Book
04/2018
1st Edition
CRC Press
€86.99
Available for download

Hangi Zhuang | Zvi S. Roth
Camera-Aided Robot Calibration
E-Book
04/2018
1st Edition
CRC Press
€86.99
Available for download
Persons
Zhuang, Hangi | Roth, Zvi S.
Content
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
OTIs: 7981, 4468, 4457