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| 001 |
in00001310213 |
| 005 |
20220103134446.0 |
| 007 |
cr unu a |
| 008 |
960709s1995 xx a b 000 0 eng d |
| 035 |
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|9 AHB2838AM
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| 035 |
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|a (OCoLC)35046244
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| 040 |
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|a TXA
|c TXA
|d UtOrBLW
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| 049 |
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|a TXAM
|a TXAR
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| 099 |
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|a 1995
|a Thesis
|a I94
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| 100 |
1 |
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|a Ives, Thomas W.,
|d 1961-
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| 245 |
1 |
0 |
|a Robot calibration without scaling /
|c by Thomas W. Ives.
|
| 264 |
|
1 |
|a [Place of publication not identified] :
|b [publisher not identified] ;
|c 1995.
|
| 300 |
|
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|a vi, 31 leaves :
|b illustrations ;
|c 28 cm.
|
| 336 |
|
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|a text
|b txt
|2 rdacontent
|
| 337 |
|
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|a computer
|b c
|2 rdamedia
|
| 338 |
|
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|a online resource
|b cr
|2 rdacarrier
|
| 500 |
|
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|a "Major subject: Mechanical Engineering".
|
| 500 |
|
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|a Vita.
|
| 502 |
|
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|b M.S.
|c Texas A&M University
|d 1995.
|
| 504 |
|
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|a Includes bibliographical references.
|
| 520 |
|
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|a (calibration). A new calibration method was developed
|
| 520 |
|
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|a amount of ill-conditioning is measured with a condition
|
| 520 |
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|a and usually prevent, convergence toward a solution when
|
| 520 |
|
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|a approaches to improving the condition of matrices that
|
| 520 |
|
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|a are used in kinematic parameter identification
|
| 520 |
|
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|a closed form solution. In the second step, the
|
| 520 |
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|a describe the systems being analyzed. Some of the
|
| 520 |
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|a describing the robot is not required. This method was
|
| 520 |
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|a easy to understand and implement.
|
| 520 |
|
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|a feature is utilized as a constraint that simplifies the
|
| 520 |
|
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|a feature of this new method is that it takes advantage
|
| 520 |
|
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|a from standard methods. Furthermore, the new method is
|
| 520 |
|
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|a from the translational kinematic parameters. This
|
| 520 |
|
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|a identification technique. The method is similar to
|
| 520 |
|
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|a improving the condition number for a matrix.
|
| 520 |
|
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|a Jacobian matrix. This new Jacobian has a condition
|
| 520 |
|
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|a Many engineering problems are studied through numerical
|
| 520 |
|
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|a methods of scaling matrices to improve the condition
|
| 520 |
|
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|a methods, and scaling of the kinematic parameters
|
| 520 |
|
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|a number that is significantly better than those derived
|
| 520 |
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|a number. However, robotics researchers have not
|
| 520 |
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|a number. 111-conditioned matrices significantly slow,
|
| 520 |
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|a numbers than matrices used in standard calibration
|
| 520 |
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|a of the rotational kinematic parameters' independence
|
| 520 |
|
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|a problems require iterative algorithms. In many cases
|
| 520 |
|
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|a Researchers in other fields have developed specific
|
| 520 |
|
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|a rotational parameters are estimated using a new type of
|
| 520 |
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|a schemes that use large matrices to mathematically
|
| 520 |
|
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|a specifically addressed, in robotics literature, their
|
| 520 |
|
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|a standard methods in that it is iterative. There are
|
| 520 |
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|a tested on rotational joint robots only. The key
|
| 520 |
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|a that uses matrices with significantly better condition
|
| 520 |
|
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|a the matrices used in these numerical schemes are found
|
| 520 |
|
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|a to be "ill-conditioned", or close to singularity. The
|
| 520 |
|
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|a translational parameters are solved separately in a
|
| 520 |
|
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|a two steps to each iteration. In the first step, the
|
| 520 |
|
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|a using iterative methods. Scaling is a common way of
|
| 530 |
|
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|a Also available online.
|
| 530 |
|
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|a Issued also on microfiche from Lange Micrographics.
|
| 650 |
|
4 |
|a Major mechanical engineering.
|
| 856 |
4 |
1 |
|u https://hdl.handle.net/1969.1/ETD-TAMU-1995-THESIS-I94
|z Link to OAKTrust copy
|t 0
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| 999 |
|
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|a MARS
|
| 999 |
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|t 0
|
| 952 |
f |
f |
|p noncirc
|a Texas A&M University
|b College Station
|c Cushing Memorial Library & Archives
|s cush tdrm
|d Cushing: Theses & Dissertations Microforms (Does not check out)
|t 0
|e 1995 Thesis I94
|h Other scheme
|i computer -- online resource
|
| 952 |
f |
f |
|a Texas A&M University
|b College Station
|c Electronic Resources
|s www_evans
|d Available Online
|t 0
|e 1995 Thesis I94
|h Other scheme
|
| 998 |
f |
f |
|a 1995 Thesis I94
|t 0
|l Cushing: Theses & Dissertations Microforms (Does not check out)
|
| 998 |
f |
f |
|a 1995 Thesis I94
|t 0
|l Available Online
|