Camera-Aided Robot Calibration

Camera-Aided Robot Calibration
Author: Hangi Zhuang
Publisher: CRC Press
Total Pages: 368
Release: 2018-04-24
Genre: Technology & Engineering
ISBN: 1351462741

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!

Flow Measurement Handbook

Flow Measurement Handbook
Author: R. C. Baker
Publisher: Cambridge University Press
Total Pages: 562
Release: 2000-05-29
Genre: Science
ISBN: 0521480108

Practical, comprehensive advice on the design, operation, and performance of flowmeters.

Calibration Technology, Theories and Applications

Calibration Technology, Theories and Applications
Author: Ikumatsu Fujimoto
Publisher: Nova Science Publishers
Total Pages: 0
Release: 2014
Genre: Calibration
ISBN: 9781626188082

A calibration procedure is generally an operation to determine a relationship between an output and an input of an instrument or an essential value of a measuring object in a measuring system. In other words, calibration is a comparison of a measuring device against a standard instrument of higher accuracy. In measuring fields, the calibration is clearly confirmed in the traceability system. The traceability is defined as the property of a result of a measurement whereby it can be related to strictly defined standards, in general, nationally or internationally recognised, through an unbroken chain of comparisons. Namely, all calibrations are strictly defined to be performed traceable to a nationally or internationally recognised standard in a measuring field. The term calibration is used not only in measuring fields but also in meteorology, chemistry and economics. Also, in these fields the term calibration is used as an operation to adjust and/or compensate a measuring system, and a method for accurately determining the relational expression between an input/output of an instrument using suitable standards, for example, an appropriate global optimisation method.However, compared to the measuring field, in these other research areas the calibration seems to be defined in a less systematic way, possibly due to the different nature of these disciplines. In this volume, calibration is defined in the above-mentioned broad sense of the term, and the topics for discussion are broad and abundant. The standard of calibration as a method which is confirmed systematically in the measurement field has been developing also in other disciplines. They have many research issues, but constitute a promising area of research.

The Quality Calibration Handbook

The Quality Calibration Handbook
Author: Jay L. Bucher
Publisher: Quality Press
Total Pages: 216
Release: 2007
Genre: Biography & Autobiography
ISBN:

If a business expects to be a player in their market segment, their product(s) must have the quality expected by their customers. This can only be accomplished with test equipment that produces repeatable, accurate, and traceable measurements and/or outputs. Without a quality calibration system in place, this cannot and will not happen. This book is about how to design, implement, maintain, and continuously improve a quality calibration system, with all the required documentation, traceability, and known uncertainty for each and every item of test equipment owned and used by any company, large or small. It will benefit companies that want to implement a program and also those that already have one in place. Some industries have tighter requirements than others on how they treat calibration; some are more specific about how their standards are read, while being vague about what is needed to meet calibration. Is there one tried-and-true quality calibration system that every organization can use as a foundation for its personalized program? There certainly is, and The Quality Calibration Handbook describes it. By using the quality calibration system outlined and demonstrated, any organization can put together its own version to meet its specific requirements and/or regulations. Quality calibration systems are the very foundation for improving research and development (R&D), production, and quality assurance arenas through accurate, reliable, and traceable calibrations of their test equipment. By ensuring the calibration of test equipment used in the production of genetic identity kits used by law enforcement at crime scenes, the guilty are often caught and the innocent exonerated. Calibrated test equipment used in support of the airline and automotive industries helps prevent disasters. At pharmaceutical companies, calibration technicians quietly lay the foundation for quality treatments that help keep us healthy, cure diseases, and sometimes prevent death. This book explains why a quality calibration system can be the difference between life and death, success and failure, andmost important to shareholders and boards of directorsprofit and loss. COMMENTS FROM OTHER CUSTOMERS Average Customer Rating (5 of 5 based on 4 reviews) "This book offers me the information I need to upgrade the quality of the service I provide to customers. It makes the quantum leap between the theory and practice in calibration. I needed this applicable and practical information a long time ago." A reader in Anchorage, Alaska "This book is a great and simple reference guide for developing a world class calibration system. If you are thinking about revamping your calibration system or developing one, this book is a must. This book is written by a person sharing his practical experience to less experienced people." A reader in Austin, Texas "Excellent reference for setting up a calibration program or improving your current operations. This book is a must read for anyone working in the metrology field." A reader in Springboro, Ohio "This book is for anyone who wants to learn more about the requirements of a good calibration program. It gives easy to understand guidelines and practical advice to help you make your calibration program world class." A reader in Putnam, Connecticut