Visual sensing and its applications: integration of laser sensors to industrial robots
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Hangzhou [u.a.]
Zhejiang Univ. Press
2011
|
| Series: | Advanced topics in science and technology in China
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XIV, 259 S. Ill., graph. Darst. |
| ISBN: | 9787308080514 9783642182860 9783642182877 |
Staff View
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Record in the Search Index
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IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 3D ACQUISITION TECHNIQUES 2
1.1.1 2D VISION 3
1.1.2 STEREO VISION 4
1.1.3 TIME OF FLIGHT 5
1.1.4 LASER TRIANGULATION SENSOR 6
1.2 STRUCTURE OF ROBOT VISUAL CONTROL SYSTEM 6
1.2.1 STRUCTURED-LIGHT SENSOR BASED VISUAL CONTROL 9 1.2.2 SELECTION OF
INDUSTRIAL ROBOTS 9
1.2.3 APPLICATIONS OF ROBOT VISUAL SYSTEMS 11
1.2.4 CALIBRATION OF ROBOT VISUAL SYSTEMS 12
1.2.5 LASER SENSOR BASED COMMERCIAL ROBOT VISUAL SYSTEMS 14 1.3 OUTLINE
OF CHAPTERS 15
REFERENCES 18
2 CHARACTERISTICS OF LASER STRUCTURED-LIGHT SENSORS 21
2.1 FORMATION OF LASER STRUCTURED-LIGHT SENSORS 21
2.1.1 LIGHT SOURCE 23
2.1.2 DETECTOR TYPES 26
2.1.3 TRIANGULATION MEASUREMENT PRINCIPLE 29
2.2 ACCURACY ANALYSIS 31
2.2.1 EFFECT OF LASER SPECKLE NOISE ON THE MEASUREMENT ACCURACY 33
2.2.2 EFFECT OF THE ENVIRONMENTAL FACTORS ON THE MEASUREMENT ACCURACY 35
2.3 COMMERCIAL SYSTEMS 37
REFERENCES 39
3 LASER STRIPE SENSOR CALIBRATION 41
3.1 MODELING OF LASER STRIPE SENSOR AND CALIBRATION STRATEGY 41 3.2
CAMERA MODELING 42
3.2.1 PINHOLE MODEL OF THE CAMERA 43
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1008972142
DIGITALISIERT DURCH
IMAGE 2
XUE CONTENTS
3.2.2 NONLINEAR MODELING WITH LENS DISTORTION 46
3.3 CALIBRATION OF CAMERAS 47
3.3.1 CALIBRATION WITH DIRECT LINEAR TRANSFORM METHOD 47 3.3.2
CALIBRATION WITH TSAI'SRAC BASED ALGORITHM 51 3.3.3 CALIBRATION WITH
MULTIPLE VIEW ALGORITHMS 54
3.4 CALIBRATION OF LASER STRIPE SENSOR 58
3.4.1 LASER STRIPE PLANE CALIBRATION WITH TWO KNOWN PLANES 62 3.4.2
LASER STRIPE PLANE CALIBRATION BASED ON INVARIANCE OF CROSS RATIOS 63
3.4.3 LASER PLANE CALIBRATION WITH A PLANAR TARGET 67
3.4.4 CALIBRATION OF DUAL LASER STRIPE SENSOR 70
3.4.5 CALIBRATION OF THE ROTATION TABLE 70
3.4.6 CALIBRATION OF THE LASER STRIPE SENSOR WITH ROBOT ALIGNMENT 72
3.4.7 LASER SCANNER CALIBRATION WITH DIRECT COORDINATE MAPPING 74
3.4.8 CALIBRATION OF LASER STRIPE SENSOR WITH SCHEIMPFLUG CONFIGURATION
77
3.5 CONCLUSION AND REMARKS 89
REFERENCES 89
4 CALIBRATION OF A ROBOT VISUAL SYSTEM 93
4.1 GENERAL SOLUTION OF ROBOT TOOL CALIBRATION 94
4.1.1 CALIBRATION TARGET WITH GEOMETRY CONSTRAINT: POINT 100 4.1.2
CALIBRATION TARGET WITH GEOMETRY CONSTRAINT: LINE 102 4.1.3 CALIBRATION
TARGET WITH GEOMETRY CONSTRAINT: SPHERE 104 4.1.4 CALIBRATION TARGET
WITH GEOMETRY CONSTRAINT: PLANE 105 4.2 TCP CALIBRATION FOR A POINT
LASER 109
4.2.1 ALGORITHMS 109
4.2.2 CALIBRATION OF LASER BEAM ORIENTATION (N X , N Y , N Z ) 110 4.2.3
CALIBRATION OF LASER SENSOR POSITION (X 0 , YO, ZO) 111 4.2.4
EXPERIMENTAL RESULTS 112
4.3 TCP CALIBRATION FOR CAMERAS 113
4.3.1 CAMERA POSE CALIBRATION WITH LINEAR EQUATIONS 114 4.3.2 CAMERA
POSE CALIBRATION WITH NONLINEAR OPTIMIZATIONS 116 4.4 TCP CALIBRATION
FOR 3D LASER SCANNER 117
4.4.1 TCP CALIBRATION WITH A SPHERE 117
4.4.2 TCP CALIBRATION WITH A PLANE 121
4.4.3 TCP CALIBRATION WITH A STRUCTURE PATTERN 124
4.5 TCP CALIBRATION WITH DIRECT MEASUREMENT 128
4.5.1 CALIBRATION OF SPINDLE 129
4.5.2 CALIBRATION OF TOOLS WITH DIFFERENT LENGTH 130
4.6 RELATIVE ROBOT WORKCELL CALIBRATION 130
4.6.1 ROBOT WORKCELL CALIBRATION 131
4.6.2 ROBOT ERROR COMPENSATION WITH RELATIVE MEASUREMENT 136
IMAGE 3
CONTENTS XIII
4.7 SUMMARY 139
REFERENCES 139
5 IMAGE PROCESSING OF LASER STRUCTURED-LIGHT BASED VISION SYSTEM 143
5.1 CONTROL POINT EXTRACTION FROM PATTERN IMAGES 143
5.1.1 FEATURE EXTRACTION FROM SQUARED CONTROL POINTS 144 5.1.2 FEATURE
EXTRACTION FROM CIRCLE CONTROL POINTS 147 5.2 LASER STRIPE SUB-PIXEL
POSITIONING 152
5.2.1 THINNING AND PRUNING ALGORITHM 152
5.2.2 GRAY SCALE GRAVITY CENTER ALGORITHM 156
5.3 RANGE IMAGE REGISTRATION WITH THE ICP ALGORITHM 158
5.3.1 DETERMINATION OF CORRESPONDING POINTS 159
5.3.2 CALCULATION OF TRANSFORMATION MATRIX 160
REFERENCES 163
6 ROBOT KINEMATIC CALIBRATION 165
6.1 BACKGROUND 165
6.2 MODEL FUNCTION OF ROBOTS 167
6.3 DETERMINATION OF INDEPENDENT ERROR PARAMETERS USING S VD METHOD 169
6.4 ERROR BUDGET ANALYSIS 170
6.5 SOLVING THE ERROR PARAMETERS 171
6.6 CIRCLE FITTING BASED CALIBRATION 171
6.7 TAU PARALLEL ROBOT CALIBRATION 174
6.7.1 KINEMATIC MODELING 175
6.7.2 JACOBIAN MATRIX OF TAU ROBOT WITH ALL ERROR PARAMETERS. 178
6.7.3 KINEMATIC MODELING WITH ALL ERROR PARAMETERS 184 6.7.4
DETERMINATION OF INDEPENDENT DESIGN VARIABLES 185 6.7.5 ERROR BUDGET
ANALYSIS 186
6.7.6 SIMULATION RESULTS 188
6.7.7 EXPERIMENTAL RESULTS 188
REFERENCES 190
7 VISUAL SENSING AND CONTROL-LASER SENSOR BASED ROBOT APPLICATIONS.
193
7.1 AUTOMATIC INSPECTION OF HOLES IN 3D SPACE 194
7.1.1 INTRODUCTION 194
7.1.2 SYSTEM OVERVIEW 195
7.1.3 SYSTEM CALIBRATIONS 196
7.1.4 INSPECTION PROCEDURE 200
7.1.5 EXPERIMENTAL RESULTS AND CONCLUSION 202
7.2 ROBOTIC GRINDING SYSTEM OF FREE-FORM WORKPIECES 203 7.2.1
INTRODUCTION 204
7.2.2 OFFLINE PROGRAMMING 205
7.2.3 WORKPIECE CALIBRATION 206
7.2.4 ROBOTIC SYSTEM ERROR COMPENSATION 207
IMAGE 4
XIV CONTENTS
7.2.5 EXPERIMENTAL SYSTEM 210
7.2.6 CONCLUSION AND REMARKS 212
7.3 ROBOT REMANUFACTURING OF BLADE TIP REFURBISHMENT 212 7.3.1
INTRODUCTION 212
7.3.2 PROFILE MODELING BASED GRINDING 214
7.3.3 EXPERIMENTAL SETUP 216
7.3.4 CONCLUSION AND FUTURE WORK 218
7.4 ROBOTIC MATERIALS HANDLING SYSTEM FOR COMPLEX PARTS 218 7.4.1 SYSTEM
OVERVIEW 218
7.4.2 APPROXIMATELY LOCATIOG WORKPIECES 219
7.4.3 PRECISELY LOCATING WORKPIECES 220
7.4.4 ANOTHER EXAMPLE 222
7.4.5 SUMMARY AND REMARKS 223
7.5 ROBOT MACHINING SYSTEM WITH VISUAL FEEDBACK 223
7.5.1 INTRODUCTION 223
7.5.2 SYSTEM OVERVIEW 224
7.5.3 SCANNING AND EDGE DETECTION 225
7.5.4 PATH SMOOTHING BASED ON THE B-SPLINE 226
7.5.5 OTHER EXAMPLES 227
7.5.6 SUMMARY AND REMARKS 229
7.6 ROBOTIC MEASUREMENT AND INSPECTION SYSTEM FOR QUALITY CONTROL 229
7.6.1 SYSTEM OVERVIEW 229
7.6.2 PICK-UP ERROR COMPENSATION 230
7.6.3 FEATURE BASED WORKPIECE LOCATIONING 232
7.6.4 POINT CLOUD COMPARISON 232
7.6.5 SUMMAY AND REMARKS 233
7.7 ROBOT WELD SYSTEM WITH SEAM TRACKING SENSORS 233
7.7.1 SYSTEM OVERVIEW 234
7.7.2 WELDING JOINT DETECTION 234
7.7.3 PATH GENERATION 235
7.7.4 COMPUTER-ROBOT COMMUNICATION 236
7.7.5 A ROBOTIC TUBE PANEL WELD SYSTEM 237
7.7.6 SUMMARY AND REMARKS 239
7.8 ROBOTIC PICK AND PLACE SYSTEM WITH POINT LASERS 239
7.8.1 ROBOT LOGS PICK AND CENTER SYSTEM 239
7.8.2 ROBOT SOLAR PANEL INSTALLATION SYSTEM 243
7.8.3 SUMMARY AND REMARKS 245
REFERENCES 246
APPENDIX 249
INDEX 255 |
| any_adam_object | 1 |
| author | Gan, Zhongxue Tang, Qing |
| author_facet | Gan, Zhongxue Tang, Qing |
| author_role | aut aut |
| author_sort | Gan, Zhongxue |
| author_variant | z g zg q t qt |
| building | Verbundindex |
| bvnumber | BV039558465 |
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| ctrlnum | (OCoLC)751011082 (DE-599)DNB1008972142 |
| dewey-full | 670.4272637 629.892637 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 670 - Manufacturing 629 - Other branches of engineering |
| dewey-raw | 670.4272637 629.892637 |
| dewey-search | 670.4272637 629.892637 |
| dewey-sort | 3670.4272637 |
| dewey-tens | 670 - Manufacturing 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Werkstoffwissenschaften / Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| indexdate | 2024-07-21T00:08:46Z |
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| spelling | Gan, Zhongxue Verfasser aut Visual sensing and its applications integration of laser sensors to industrial robots Zhongxue Gan ; Qing Tang Hangzhou [u.a.] Zhejiang Univ. Press 2011 XIV, 259 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Advanced topics in science and technology in China Lasermesstechnik (DE-588)4166812-1 gnd rswk-swf Integrierter Sensor (DE-588)4235815-2 gnd rswk-swf Laserscanner (DE-588)4419104-2 gnd rswk-swf Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Industrieroboter (DE-588)4026861-5 s Dreidimensionales maschinelles Sehen (DE-588)4137757-6 s Integrierter Sensor (DE-588)4235815-2 s Lasermesstechnik (DE-588)4166812-1 s Laserscanner (DE-588)4419104-2 s DE-604 Tang, Qing Verfasser aut X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3631536&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024410195&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Gan, Zhongxue Tang, Qing Visual sensing and its applications integration of laser sensors to industrial robots Lasermesstechnik (DE-588)4166812-1 gnd Integrierter Sensor (DE-588)4235815-2 gnd Laserscanner (DE-588)4419104-2 gnd Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4166812-1 (DE-588)4235815-2 (DE-588)4419104-2 (DE-588)4137757-6 (DE-588)4026861-5 |
| title | Visual sensing and its applications integration of laser sensors to industrial robots |
| title_auth | Visual sensing and its applications integration of laser sensors to industrial robots |
| title_exact_search | Visual sensing and its applications integration of laser sensors to industrial robots |
| title_full | Visual sensing and its applications integration of laser sensors to industrial robots Zhongxue Gan ; Qing Tang |
| title_fullStr | Visual sensing and its applications integration of laser sensors to industrial robots Zhongxue Gan ; Qing Tang |
| title_full_unstemmed | Visual sensing and its applications integration of laser sensors to industrial robots Zhongxue Gan ; Qing Tang |
| title_short | Visual sensing and its applications |
| title_sort | visual sensing and its applications integration of laser sensors to industrial robots |
| title_sub | integration of laser sensors to industrial robots |
| topic | Lasermesstechnik (DE-588)4166812-1 gnd Integrierter Sensor (DE-588)4235815-2 gnd Laserscanner (DE-588)4419104-2 gnd Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Lasermesstechnik Integrierter Sensor Laserscanner Dreidimensionales maschinelles Sehen Industrieroboter |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=3631536&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024410195&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT ganzhongxue visualsensinganditsapplicationsintegrationoflasersensorstoindustrialrobots AT tangqing visualsensinganditsapplicationsintegrationoflasersensorstoindustrialrobots |