Download or read book Self calibration of a Robot Manipulator with Motion Estimation written by Young Chul Kay and published by . This book was released on 1991 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robotic Measurement System written by Chunhe Gong and published by . This book was released on 2000 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Camera aided Self calibration of Robot Manipulators written by Yan Meng and published by . This book was released on 2000 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Fundamentals of Manipulator Calibration written by Benjamin W. Mooring and published by Wiley-Interscience. This book was released on 1991-03-19 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Camera Aided Robot Calibration written by Hangi Zhuang and published by CRC Press. This book was released on 2018-04-24 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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!
Download or read book Self calibration Strategies for Robot Manipulators written by University of Rochester. Dept. of Computer Science and published by . This book was released on 1986 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Manipulators written by Marco Ceccarelli and published by BoD – Books on Demand. This book was released on 2008-09-01 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book 2021 International Siberian Conference on Control and Communications SIBCON written by IEEE Staff and published by . This book was released on 2021-05-13 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: 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
Download or read book Self calibration of motion and stereo vision for mobile robot navigation written by Rodney A. Brooks and published by . This book was released on 1987 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Self calibration Strategied for Robot Manipulators written by A. Mukerjee and published by . This book was released on 1986 with total page 105 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Position force Control and Calibration of Robotic Manipulators as Applied to Automated Composite Tape laying written by Yixin Yao and published by . This book was released on 1988 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Manipulator written by Michelle H. Ziegler and published by . This book was released on 1984 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Computer Vision ECCV 2000 written by David Vernon and published by Springer Science & Business Media. This book was released on 2000-06-19 with total page 881 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 1842/1843 constitutes the refereed proceedings of the 6th European Conference on Computer Vision, ECCV 2000, held in Dublin, Ireland in June/July 2000. The 116 revised full papers presented were carefully selected from a total of 266 submissions. The two volumes offer topical sections on recognitions and modelling; stereoscopic vision; texture and shading; shape; structure from motion; image features; active, real-time, and robot vision; segmentation and grouping; vision systems engineering and evaluation; calibration; medical image understanding; and visual motion.
Download or read book Robot Control and Calibration written by Xin Luo and published by Springer Nature. This book was released on 2023-09-25 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Self Calibration of Multi Camera Systems written by Ferid Bajramovic and published by Logos Verlag Berlin GmbH. This book was released on 2010 with total page 233 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-camera systems play an increasingly important role in computer vision. They enable applications like 3D video reconstruction, motion capture, smart homes, wide area surveillance, etc. Most of these require or benefit from a calibration of the multi-camera system. This book presents a novel approach for automatically estimating that calibration. In contrast to established methods, it neither requires a calibration object nor any user interaction. From a theoretical point of view, this book also presents and solves the novel graph theoretical problem of finding shortest triangle paths.
Download or read book Kinematic Calibration of Articulated Arm Coordinate Measuring Machines and Robot Arms Using Passive and Active Self Centering Probes and Multipose Optimization Algorithm Based in Point and Length Constrains written by Jorge Santolaria and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter, a comparison between two different probing systems applied to capturing data for parameter identification and verification of AACMM is presented. Besides the probing systems traditionally used in the verification of AACMM, self-centering probing systems with kinematic coupling configuration and self-center active probing systems have also been used for the presented method. Such probing systems are very suitable for use in verification procedures and capturing data for parameter identification, because they drastically reduce the capture time and the required number of positions of the gauge as compared to the usual standard and manufacturer methods. These systems are also very suitable for their capacity of capturing multiple positions of the AACMM for a single gauge position, so that the accuracy results obtained after a procedure of identification or verification are more generalizable than those obtained with the traditional probing systems. The effect of auto compensation of the gauge deformation has been shown by properly defining the trajectories of capture or the direction of probing during the process of capturing data. Moreover, it has been demonstrated that the smallest influence of the probing force is obtained in the case of the self-centering active probe, this being the most adequate system in tasks of verification or capturing data for the identification of kinematic parameters if no configuration or application restrictions are imposed, specially for robot arms.
Download or read book Self Calibrating AutoTRAC written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-07-11 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: The work reported here demonstrates how to automatically compute the position and attitude of a targeting reflective alignment concept (TRAC) camera relative to the robot end effector. In the robotics literature this is known as the sensor registration problem. The registration problem is important to solve if TRAC images need to be related to robot position. Previously, when TRAC operated on the end of a robot arm, the camera had to be precisely located at the correct orientation and position. If this location is in error, then the robot may not be able to grapple an object even though the TRAC sensor indicates it should. In addition, if the camera is significantly far from the alignment it is expected to be at, TRAC may give incorrect feedback for the control of the robot. A simple example is if the robot operator thinks the camera is right side up but the camera is actually upside down, the camera feedback will tell the operator to move in an incorrect direction. The automatic calibration algorithm requires the operator to translate and rotate the robot arbitrary amounts along (about) two coordinate directions. After the motion, the algorithm determines the transformation matrix from the robot end effector to the camera image plane. This report discusses the TRAC sensor registration problem. Everett, Louis J. Unspecified Center NAG9-629...
