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 ...
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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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Add this copy of Camera-Aided Robot Calibration to cart. $73.26, new condition, Sold by Ingram Customer Returns Center rated 5.0 out of 5 stars, ships from NV, USA, published 2020 by CRC Press.
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Add this copy of Camera-Aided Robot Calibration to cart. $101.87, new condition, Sold by Ria Christie Books rated 5.0 out of 5 stars, ships from Uxbridge, MIDDLESEX, UNITED KINGDOM, published 2020 by CRC Press.
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New. Contains: Halftones, black & white, Tables, black & white. Includes: tables, black & white, halftones, black & white. Intended for professional and scholarly audience.
Add this copy of Camera-Aided Robot Calibration to cart. $216.06, new condition, Sold by Ingram Customer Returns Center rated 5.0 out of 5 stars, ships from NV, USA, published 1996 by CRC Press.
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New. Print on demand Sewn binding. Cloth over boards. 368 p. Contains: Unspecified, Halftones, black & white, Tables, black & white. Perspectives in Exercise Science and.
Add this copy of Camera-Aided Robot Calibration to cart. $252.34, new condition, Sold by Ria Christie Books rated 5.0 out of 5 stars, ships from Uxbridge, MIDDLESEX, UNITED KINGDOM, published 1996 by CRC Press.
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New. Sewn binding. Cloth over boards. 368 p. Contains: Unspecified, Halftones, black & white, Tables, black & white. Perspectives in Exercise Science and.
Add this copy of Camera Aided Robot Calibration to cart. $258.56, new condition, Sold by Media Smart rated 4.0 out of 5 stars, ships from Hawthorne, CA, UNITED STATES, published 1996 by Taylor & Francis Group.
