Development and study on the generalized geometric model for robot calibration /.
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| Other Authors: | , , |
| Format: | Thesis Book |
| Language: | English |
| Published: |
1991.
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| Subjects: | |
| Online Access: | Link to ProQuest copy Link to OAKTrust copy ProQuest, Abstract |
| Abstract: | Accuracy improvement in the processes of robot calibration depends heavily on the models that represent the robots. This dissertation is about the development and evaluation of the so-called general model. Unlike any previous calibration model, the general model is intended for the study of robot errors rather than just for robot accuracy improvement. The model is also intended to be sufficiently general in the sense that it is applicable for general manipulators. This is accomplished by basing the general model on the Sheth-Uicker model which is kinematically general. In this model, robot errors are modeled by a generalized geometric error parameter called error function. The error function is a Fourier series expanded on the robot joint variables. This dissertation also develops a rule that can be used to determine the completeness of the general model. Completeness is a concept that can be used to indicate that a model has all the independent parameters necessary for accuracy improvement. The completeness developed here is a generalization of the same concept used in robot kinematic (geometric) models. |
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| Item Description: | "Major subject: Mechanical Engineering." Typescript (photocopy). Vita. |
| Physical Description: | ix, 104 leaves : illustrations ; 29 cm |
| Bibliography: | Includes bibliographical references. |