Camera-Aided Robot Calibration

This book, being the first on the topic of robot calibration using computer vision technology, covers the entire process of vision-based robot calibration, including kinematic modeling, pose measurement, error parameter identification, and compensation.

Introduction. Camera Calibration. Kinematic Modeling for Robot Calibration. Pose Measurement with Cameras. Error-Model-Based Kinematic Identification. Kinematic Identification: Linear Solution Approaches. Simultaneous Calibration of a Robot and a Hand-Mounted Camera. Robotic Hand/Eye Calibration. Robotic Base Calibration. Simultaneous Calibration of Robotic Base and Tool. Robot Accuracy Compensation. Selection of Robot Measurement Configurations. Practical Considerations and Case Studies. References. Appendices. Index.

OTIs: 7981, 4468, 4457