http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
(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
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
"Major subject: Mechanical Engineering".
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