Author: Yan MengPublisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 306
Book Description
Camera-aided Self-calibration of Robot Manipulators
Author: Yan MengPublisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 306
Book Description
Camera-Aided Robot Calibration
Author: Hangi ZhuangPublisher: CRC Press
ISBN: 1351462733
Category : Technology & Engineering
Languages : en
Pages : 376
Book 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!
Self-calibration Strategies for Robot Manipulators
Author: University of Rochester. Dept. of Computer SciencePublisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 210
Book Description
Self-calibration Strategied for Robot Manipulators
Author: A. MukerjeeSelf-calibration of a Robot Manipulator with Motion Estimation
Author: Young Chul KayFundamentals of Manipulator Calibration
Author: Benjamin W. MooringPublisher: Wiley-Interscience
ISBN:
Category : Computers
Languages : en
Pages : 360
Book Description
Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.
Calibration Techniques for Camera and Robot Manipulator [microform]
![Calibration Techniques for Camera and Robot Manipulator [microform] PDF](https://books.google.com/books/content/images/frontcover/Ao3sNAEACAAJ?fife=w80-h100)
Author: Kavita RaviPublisher: National Library of Canada = Bibliothèque nationale du Canada
ISBN: 9780315951020
Category :
Languages : en
Pages : 182
Book Description
Calibration Techniques for Camera and Robot Manipulator
Author: Kavita RaviRobot Control and Calibration
Author: Xin LuoPublisher: Springer Nature
ISBN: 9819957664
Category : Technology & Engineering
Languages : en
Pages : 132
Book Description
This book mainly shows readers how to calibrate and control robots. In this regard, it proposes three control schemes: an error-summation enhanced Newton algorithm for model predictive control; RNN for solving perturbed time-varying underdetermined linear systems; and a new joint-drift-free scheme aided with projected ZNN, which can effectively improve robot control accuracy. Moreover, the book develops four advanced algorithms for robot calibration – Levenberg-Marquarelt with diversified regularizations; improved covariance matrix adaptive evolution strategy; quadratic interpolated beetle antennae search algorithm; and a novel variable step-size Levenberg-Marquardt algorithm – which can effectively enhance robot positioning accuracy. In addition, it is exceedingly difficult for experts in other fields to conduct robot arm calibration studies without calibration data. Thus, this book provides a publicly available dataset to assist researchers from other fields in conducting calibration experiments and validating their ideas. The book also discusses six regularization schemes based on its robot error models, i.e., L1, L2, dropout, elastic, log, and swish. Robots’ positioning accuracy is significantly improved after calibration. Using the control and calibration methods developed here, readers will be ready to conduct their own research and experiments.
Author: Michelle H. Ziegler