Camera-Aided Robot Calibration
Camera-Aided Robot Calibration
Hanqi Zhuang and Zvi S. RothCRC Press1996353 pp.ISBN 0-8493-9407-4£47.00 (hard cover)
Keywords Calibration, Cameras, Robots
This book addresses both the concepts and implementation of robot calibration using computer vision technology. Camera-Aided Robot Calibration is not suitable for those new to the field of robotics and requires an understanding of cameras, lenses and image processing algorithms.
The book starts with an Overview of robot calibration, and Camera calibration techniques are covered in chapter 2. The third chapter discusses Kinematic modelling for robot calibration. Pose measurement with cameras, and Error-model based kinematic identification are addressed in chapters 4 and 5, respectively. Chapter 6 introduces Linear solution approaches to kinematic identification.
The following three chapters address Simultaneous calibration of a robot and a hand-mounted camera, Robotic hand/eye calibration, and Robotic base calibration. Techniques for the simultaneous calibration of robotic base and tool are discussed in chapter 10, while chapter 11 covers Robot accuracy compensation. Chapter 12 discusses A selection of robot measurement configurations.
The final chapter of this book contains practical considerations and case studies. The three appendices contain a Summary of basic concepts in matrix theory, Least mean squares techniques and Sensitivity analysis.
Camera-Aided Robot Calibration is a well written and clearly presented book. The figures associated with the text not only help in understanding the mathematics, but the photographs assist in visualising actual calibration systems.
