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Error analysis of Camera-Space Manip...

University of Notre Dame.

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Error analysis of Camera-Space Manipulation.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Error analysis of Camera-Space Manipulation./
Author:	Chen, Huadong Sam.
Description:	168 p.
Notes:	Adviser: Steven B. Skaar.
Contained By:	Dissertation Abstracts International69-06B.
Subject:	Engineering, Industrial. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3318047
ISBN:	9780549673453

Error analysis of Camera-Space Manipulation.
Chen, Huadong Sam.

Error analysis of Camera-Space Manipulation. - 168 p.

Adviser: Steven B. Skaar.

Thesis (Ph.D.)--University of Notre Dame, 2007.

In this thesis, we systematically analyze all major factors that affect a Camera-Space Manipulation (CSM) system's positioning precision.

ISBN: 9780549673453Subjects--Topical Terms:

626639
Engineering, Industrial.

Error analysis of Camera-Space Manipulation.
LDR:02745nam 2200313 a 45 001 852747
005 20100630
008 100630s2007 ||||||||||||||||| ||eng d
020 $a 9780549673453
035 $a (UMI)AAI3318047
035 $a AAI3318047
040 $a UMI $c UMI
100 1 $a Chen, Huadong Sam. $3 1018758
245 1 0 $a Error analysis of Camera-Space Manipulation.
300 $a 168 p.
500 $a Adviser: Steven B. Skaar.
500 $a Source: Dissertation Abstracts International, Volume: 69-06, Section: B, page: 3821.
502 $a Thesis (Ph.D.)--University of Notre Dame, 2007.
520 $a In this thesis, we systematically analyze all major factors that affect a Camera-Space Manipulation (CSM) system's positioning precision.
520 $a CSM is an effective control means to guide robots with machine vision in manipulation tasks. When using CSM, apart from error in establishing camera-space objectives, there are three major error sources that affect a robot's end precision: camera optical model imperfection, robot kinematical model imperfection, and finite camera-image resolution. There are several factors that can mitigate the effect of the three major error sources and ensure sufficient precision, factors such as "preplan-trajectory" design (parameter initialization), robot end-tool cue configuration, and cue-data-weighting scheme. Prior to the work of this dissertation, our understanding of the three major error sources and mitigating factors, largely based on theoretical analysis and experimental conclusions, enabled us to achieve a sufficient level of precision for many manipulation tasks.
520 $a We seek herein to achieve much higher precision with CSM so that we can apply it to a much broader range of tasks. First, we set up a simulation platform to simulate a CSM system and investigate numerically the relationships among the major error sources, mitigating factors, and end precision. After that, we establish a high-precision, experimental CSM system to test the simulation's prediction regarding all the conditions that culminate to a high level of precision. Based on this system, we further explore the quantitative impact on the end precision and the inter-relationships of the CSM measures, using both simulation results and experimental results. Eventually we can implement verified principles and effective measures into practice, and (ideally) realize robustly any desired level of end precision of a CSM system.
590 $a School code: 0165.
650 4 $a Engineering, Industrial. $3 626639
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0546
690 $a 0548
690 $a 0771
710 2 $a University of Notre Dame. $3 807615
773 0 $t Dissertation Abstracts International $g 69-06B.
790 $a 0165
790 1 0 $a Skaar, Steven B., $e advisor
791 $a Ph.D.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3318047