视觉传感及其应用：激光传感器与工业机器人的结合（英文版）

图书标准信息

• 作者 甘中学、汤青 编
• 出版社 浙江大学出版社
• 出版时间 2011-05
• 版次 1
• ISBN 9787308080514
• 定价 120.00元
• 装帧 精装
• 开本 16开
• 纸张 胶版纸
• 页数 259页
• 字数 423千字
• 正文语种 英语

【内容简介】

VisualSensinganditsApplicationsIntegrationofLaserSensorstoIndustrialRobotsprovidescomprehensiveandup-to-datecoverageofresearchanddevelopmentonthisroboticvisionsystem.Alaser-structuredlightisthemainconcernindiscussionsofvisualsensing.Alsoaddressedinthisbookareallcomponentsoftheroboticvisionsystemandanemphasisonhowtoincreasetheaccuracyofthesystemusingthreelevelsofcalibration.Thisincludescalibrationofthevisionsystem（eyecalibration），calibrationofeye-to-handconfigurationandcalibrationofrobotkinematics（handcalibration）.Withtheintegrationofthelasersensorstoindustrialrobotsnumerousapplicationsinthefieldofroboticwelding,grinding,machining,inspection,andpalletiz-ingareillustratedbasedonpracticalengineeringprojectsinordertodemonstratehowthevisualsensingisperformed.Thebookwillserveasavaluableresourceforresearchersandengineersintheareasofroboticsandmachinevision.

【目录】

1Introduction
1.13DAcquisitionTechniques
1.1.12DVision
1.1.2StereoVision
1.1.3TimeofFlight
1.1.4LaserTriangulationSensor
1.2StructureofRobotVisualControlSystem
1.2.1Structured-LightSensorBasedVisualControl
1.2.2SelectionofIndustrialRobots
1.2.3ApplicationsofRobotVisualSystems
1.2.4CalibrationofRobotVisualSystems
1.2.5LaserSensorBasedCommercialRobotVisualSystems
1.3OutlineofChapters
References

2CharacteristicsofLaserStructured-LightSensors
2.1FormationofLaserStructured-LightSensors
2.1.1LightSource
2.1.2DetectorTypes
2.1.3TriangulationMeasurementPrinciple
2.2AccuracyAnalysis
2.2.1EffectofLaserSpeckleNoiseontheMeasurement
Accuracy
2.2.2EffectoftheEnvironmentalFactorsontheMeasurement
Accuracy
2.3CommercialSystems
References

3LaserStripeSensorCalibration
3.1ModelingofLaserStripeSensorandCalibrationStrategy
3.2CameraModeling
3.2.1PinholeModeloftheCamera
3.2.2NonlinearModelingwithLensDistortion
3.3CalibrationofCameras
3.3.1CalibrationwithDirectLinearTransformMethod
3.3.2CalibrationwithTsai'sRACBasedAlgorithm
3.3.3CalibrationwithMultipleViewAlgorithms
3.4CalibrationofLaserStripeSensor
3.4.1LaserStripePlaneCalibrationwithTwoKnownPlanes
3.4.2LaserStripePlaneCalibrationBasedonInvarianceofCrossRatios
3.4.3LaserPlaneCalibrationwithaPlanarTarget
3.4.4CalibrationofDualLaserStripeSensor
3.4.5CalibrationoftheRotationTable
3.4.6CalibrationoftheLaserStripeSensorwithRobotAlignment
3.4.7LaserScannerCalibrationwithDirectCoordinateMapping
3.4.8CalibrationofLaserStripeSensorwithScheimpflugConfiguration
3.5ConclusionandRemarks
References

CalibrationofaRobotVisualSystem
4.1GeneralSolutionofRobotToolCalibration
4.1.1CalibrationTargetwithGeometryConstraint:Point
4.1.2CalibrationTargetwithGeometryConstraint:Line
4.1.3CalibrationTargetwithGeometryConstraint:Sphere
4.1.4CalibrationTargetwithGeometryConstraint:Plane
4.2TCPCalibrationforaPointLaser
4.2.1Algorithms
4.2.2CalibrationofLaserBeamOrientation(nx,ny,nz)
4.2.3CalibrationofLaserSensorPosition(x0,Y0,z0)
4.2.4ExperimentalResults
4.3TCPCalibrationforCameras
4.3.1CameraPoseCalibrationwithLinearEquations
4.3.2CameraPoseCalibrationwithNonlinearOptimizations
4.4TCPCalibrationfor3DLaserScanner
4.4.1TCPCalibrationwithaSphere
4.4.2TCPCalibrationwithaPlane
4.4.3TCPCalibrationwithaStructurePattern
4.5TCPCalibrationwithDirectMeasurement
4.5.1CalibrationofSpindle
4.5.2CalibrationofToolswithDifferentLength
4.6RelativeRobotWorkcellCalibration
4.6.1RobotWorkcellCalibration
4.6.2RobotErrorCompensationwithRelativeMeasurement
4.7Summary
References

5ImageProcessingofLaserStructured-LightBasedVisionSystem
5.1ControlPointExtractionfromPatternImages
5.1.1FeatureExtractionfromSquaredControlPoints
5.1.2FeatureExtractionfromCircleControlPoints
5.2LaserStripeSub-PixelPositioning
5.2.1ThinningandPruningAlgorithm
5.2.2GrayScaleGravityCenterAlgorithm
5.3RangeImageRegistrationwiththeICPAlgorithm
5.3.1DeterminationofCorrespondingPoints
5.3.2CalculationofTransformationMatrix
References

6RobotKinematicCalibration
6.1Background
6.2ModelFunctionofRobots
6.3DeterminationofIndependentErrorParametersUsingSVDMethod
6.4ErrorBudgetAnalysis
6.5SolvingtheErrorParameters
6.6CircleFittingBasedCalibration
6.7TAUParallelRobotCalibration
6.7.1KinematicModeling
6.7.2JacobianMatrixofTAURobotwithAllErrorParameters..
6.7.3KinematicModelingwithallErrorParameters
6.7.4DeterminationofIndependentDesignVariables
6.7.5ErrorBudgetAnalysis
6.7.6SimulationResults
6.7.7ExperimentalResults
References

7VisualSensingandControl-LaserSensorBasedRobotApplications..
7.1AutomaticInspectionofHolesin3DSpace
7.1.1Introduction
7.1.2SystemOverview
7.1.3SystemCalibrations
7.1.4InspectionProcedure
7.1.5ExperimentalResultsandConclusion
7.2RoboticGrindingSystemofFree-FormWorkpieces
7.2.1Introduction
7.2.2OffiineProgramming
7.2.3WorkpieceCalibration
7.2.4RoboticSystemErrorCompensation
7.2.5ExperimentalSystem
7.2.6ConclusionandRemarks
7.3RobotRemanufacturingofBladeTipRefurbishment
7.3.1Introduction
7.3.2ProfileModelingBasedGrinding
7.3.3ExperimentalSetup
7.3.4ConclusionandFutureWork
7.4RoboticMaterialsHandlingSystemforComplexParts
7.4.1SystemOverview
7.4.2ApproximatelyLocatiogWorkpieces
7.4.3PreciselyLocatingWorkpieces
7.4.4AnotherExample
7.4.5SummaryandRemarks
7.5RobotMachiningSystemwithVisualFeedback
7.5.1Introduction
7.5.2SystemOverview
7.5.3ScanningandEdgeDetection
7.5.4PathSmoothingBasedontheB-Spline
7.5.5OtherExamples
7.5.6SummaryandRemarks
7.6RoboticMeasurementandInspectionSystemforQualityControl
7.6.1SystemOverview
7.6.2Pick-upErrorCompensation
7.6.3FeatureBasedWorkpieceLocationing
7.6.4PointCloudComparison
7.6.5SummayandRemarks
7.7RobotWeldSystemwithSeamTrackingSensors
7.7.1SystemOverview
7.7.2WeldingJointDetection
7.7.3PathGeneration
7.7.4Computer-RobotCommunication
7.7.5ARoboticTubePanelWeldSystem
7.7.6SummaryandRemarks
7.8RoboticPickandPlaceSystemwithPointLasers
7.8.1RobotLogsPickandCenterSystem
7.8.2RobotSolarPanelInstallationSystem
7.8.3SummaryandRemarks
References
Appendix
Index