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ROBOT CALIBRATION USING STEREO VISION

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Date Issued:
1987
Summary:
This thesis deals with a study of using the stereo vision technique in the robot calibration. Three cameras are used in measurement to extract the position information of a target point attached onto each of the robot manipulator links for the purpose of identifying the actual kinematic parameters of every link of the robot manipulator under testing. The robot kinematic model used in this study is the S-Model which is an extension of the well-known Denavit-Hartenberg model. The calibration has been done on the wrist of the IBM 7565 robot. The experiment set-up and results and the necessary software are all presented in this thesis.
Title: ROBOT CALIBRATION USING STEREO VISION.
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Name(s): CHEN, SHOUPU.
Florida Atlantic University, Degree grantor
Roth, Zvi S., Thesis advisor
Sudhakar, Raghavan, Thesis advisor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1987
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 189 p.
Language(s): English
Summary: This thesis deals with a study of using the stereo vision technique in the robot calibration. Three cameras are used in measurement to extract the position information of a target point attached onto each of the robot manipulator links for the purpose of identifying the actual kinematic parameters of every link of the robot manipulator under testing. The robot kinematic model used in this study is the S-Model which is an extension of the well-known Denavit-Hartenberg model. The calibration has been done on the wrist of the IBM 7565 robot. The experiment set-up and results and the necessary software are all presented in this thesis.
Identifier: 14416 (digitool), FADT14416 (IID), fau:11217 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1987.
Subject(s): Robotics--Calibration--Measurement
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14416
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.