Author: Young Chul KayPublisher:
ISBN:
Category :
Languages : en
Pages : 304
Book Description
Self-calibration of a Robot Manipulator with Motion Estimation
Author: Young Chul KayRobotic Measurement System
Author: Chunhe GongPublisher:
ISBN:
Category : Robotics
Languages : en
Pages : 364
Book Description
Camera-aided Self-calibration of Robot Manipulators
Author: Yan MengPublisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 306
Book Description
Fundamentals 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.
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
Robot Manipulators
Author: Marco CeccarelliPublisher: BoD – Books on Demand
ISBN: 9537619060
Category : Technology & Engineering
Languages : en
Pages : 558
Book Description
In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.
2021 International Siberian Conference on Control and Communications (SIBCON)
Author: IEEE StaffPublisher:
ISBN: 9781728185057
Category :
Languages : en
Pages :
Book Description
The 15th Siberian Conference SIBCON 2021, the oldest conference of IEEE in Russia, aims to offer opportunities to learn and to share information on the latest advances in communications, electron devices, and control systems The conference is organized by the IEEE units in Siberia and National Instruments Rus R&D on a regular basis in order to promote interdisciplinary discussion and interaction among scientists and engineers with an emphasis on the IEEE membership While the scientific program is expected to create stimulating professional interaction, the magic of Kazan, hot spring atmosphere and wealth of historic wooden architecture promise a pleasant and memorable stay
Self calibration of motion and stereo vision for mobile robot navigation
Author: Rodney A. BrooksPublisher:
ISBN:
Category : Algorithms
Languages : en
Pages : 24
Book Description
We report on experiments with a mobile robot using one vision process (forward motion vision) to calibrate another (stereo vision) without resorting to any external units of measurement. Both are calibrated to a velocity dependent coordinate system which is natural to the task of obstacle avoidance. The foundations of these algorithms, in a world of perfect measurement, are quite elementary. The contribution of this work is to make them noise tolerant while remaining simple computationally. Both the algorithms and the calibration procedure are easy to implement and have shallow computational depth, making them (1) run at reasonable speed on moderate uni-processors, (2) appear practical to run continuously, maintaining an up-to-the-second calibration on a mobile robot, and (3) appear to be good candidates for massively parallel implementations.
Author: A. Mukerjee