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Synthesis of vision-based robot calibration using moving cameras

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Date Issued:
1993
Summary:
Robot calibration using a vision system and moving cameras is the focus of this dissertation. The dissertation contributes in the areas of robot modeling, kinematic identification and calibration measurement. The effects of perspective distortion of circular camera calibration points is analyzed. A new modified complete and parametrically continuous robot kinematic model, an evolution of the complete and parametrically continuous (CPC) model, is proposed. It is shown that the model's error-model can be developed easily as the structure of this new model is very simple and similar to the Denavit-Hartenbert model. The derivation procedure of the error-model follows a systematic method that can be applied to any kind of robot arms. Pose measurement is the most crucial step in robot calibration. The use of stereo as well as mono mobile camera measurement system for collection of pose data of the robot end-effector is investigated. The Simulated Annealing technique is applied to the problem of optimal measurement configuration selection. Joint travel limits can be included in the cost function. It is shown that trapping into local minimum points can be effectively avoided by properly choosing an initial point and a temperature schedule. The concept of simultaneous calibration of camera and robot is developed and implemented as an automated process that determines the system model parameters using only the system's internal sensors. This process uses a unified mathematical model for the entire robot/camera system. The results of the kinematic identification, optimal configuration selection, and simultaneous calibration of robot and camera using the PUMA 560 robot arm have demonstrated that the modified complete and parametrically continuous model is a viable and simple modeling tool, which can achieve desired accuracy. The systematic way of modeling and performing of different kinds of vision-based robot applications demonstrated in this dissertation will pave the way for industrial standardizing of robot calibration done by the robot user on the manufacturing floor.
Title: Synthesis of vision-based robot calibration using moving cameras.
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Name(s): Wang, Kuanchih.
Florida Atlantic University, Degree grantor
Roth, Zvi S., Thesis advisor
Zhuang, Hanqi, Thesis advisor
College of Engineering and Computer Science
Department of Computer and Electrical Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1993
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 188 p.
Language(s): English
Summary: Robot calibration using a vision system and moving cameras is the focus of this dissertation. The dissertation contributes in the areas of robot modeling, kinematic identification and calibration measurement. The effects of perspective distortion of circular camera calibration points is analyzed. A new modified complete and parametrically continuous robot kinematic model, an evolution of the complete and parametrically continuous (CPC) model, is proposed. It is shown that the model's error-model can be developed easily as the structure of this new model is very simple and similar to the Denavit-Hartenbert model. The derivation procedure of the error-model follows a systematic method that can be applied to any kind of robot arms. Pose measurement is the most crucial step in robot calibration. The use of stereo as well as mono mobile camera measurement system for collection of pose data of the robot end-effector is investigated. The Simulated Annealing technique is applied to the problem of optimal measurement configuration selection. Joint travel limits can be included in the cost function. It is shown that trapping into local minimum points can be effectively avoided by properly choosing an initial point and a temperature schedule. The concept of simultaneous calibration of camera and robot is developed and implemented as an automated process that determines the system model parameters using only the system's internal sensors. This process uses a unified mathematical model for the entire robot/camera system. The results of the kinematic identification, optimal configuration selection, and simultaneous calibration of robot and camera using the PUMA 560 robot arm have demonstrated that the modified complete and parametrically continuous model is a viable and simple modeling tool, which can achieve desired accuracy. The systematic way of modeling and performing of different kinds of vision-based robot applications demonstrated in this dissertation will pave the way for industrial standardizing of robot calibration done by the robot user on the manufacturing floor.
Identifier: 12339 (digitool), FADT12339 (IID), fau:9241 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (Ph.D.)--Florida Atlantic University, 1993.
Subject(s): Robot vision
Robot cameras--Calibration
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12339
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.