Robot calibration without scaling /
(calibration). A new calibration method was developed
| Main Author: | |
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| Format: | Thesis eBook |
| Language: | English |
| Published: |
[Place of publication not identified] :
[publisher not identified] ;
1995.
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| Subjects: | |
| Online Access: | Link to OAKTrust copy |
| Summary: | (calibration). A new calibration method was developed amount of ill-conditioning is measured with a condition and usually prevent, convergence toward a solution when approaches to improving the condition of matrices that are used in kinematic parameter identification closed form solution. In the second step, the describe the systems being analyzed. Some of the describing the robot is not required. This method was easy to understand and implement. feature is utilized as a constraint that simplifies the feature of this new method is that it takes advantage from standard methods. Furthermore, the new method is from the translational kinematic parameters. This identification technique. The method is similar to improving the condition number for a matrix. Jacobian matrix. This new Jacobian has a condition Many engineering problems are studied through numerical methods of scaling matrices to improve the condition methods, and scaling of the kinematic parameters number that is significantly better than those derived number. However, robotics researchers have not number. 111-conditioned matrices significantly slow, numbers than matrices used in standard calibration of the rotational kinematic parameters' independence problems require iterative algorithms. In many cases Researchers in other fields have developed specific rotational parameters are estimated using a new type of schemes that use large matrices to mathematically specifically addressed, in robotics literature, their standard methods in that it is iterative. There are tested on rotational joint robots only. The key that uses matrices with significantly better condition the matrices used in these numerical schemes are found to be "ill-conditioned", or close to singularity. The translational parameters are solved separately in a two steps to each iteration. In the first step, the using iterative methods. Scaling is a common way of |
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| Item Description: | "Major subject: Mechanical Engineering". Vita. |
| Physical Description: | vi, 31 leaves : illustrations ; 28 cm. Also available online. Issued also on microfiche from Lange Micrographics. |
| Bibliography: | Includes bibliographical references. |