Current Search: CHEN, SHOUPU. (x)
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Title
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ROBOT CALIBRATION USING STEREO VISION.
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Creator
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CHEN, SHOUPU., Florida Atlantic University, Roth, Zvi S., Sudhakar, Raghavan
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Abstract/Description
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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...
Show moreThis 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.
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Date Issued
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1987
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PURL
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http://purl.flvc.org/fcla/dt/14416
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Subject Headings
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Robotics--Calibration--Measurement
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Format
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Document (PDF)
