rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Robot calibration without scaling
  name:
    name part: Ives, Thomas W.
    name part: 1961-
    role:
      role term: creator
  type of resource: text
  genre: bibliography
  origin info:
    place:
      place term: xx
    date issued: 1995
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: print
    form: remote
    extent: vi, 31 leaves : illustrations ; 28 cm.
  abstract: (calibration). A new calibration method was developed
  abstract: amount of ill-conditioning is measured with a condition
  abstract: and usually prevent, convergence toward a solution when
  abstract: approaches to improving the condition of matrices that
  abstract: are used in kinematic parameter identification
  abstract: closed form solution. In the second step, the
  abstract: describe the systems being analyzed. Some of the
  abstract: describing the robot is not required. This method was
  abstract: easy to understand and implement.
  abstract: feature is utilized as a constraint that simplifies the
  abstract: feature of this new method is that it takes advantage
  abstract: from standard methods. Furthermore, the new method is
  abstract: from the translational kinematic parameters. This
  abstract: identification technique. The method is similar to
  abstract: improving the condition number for a matrix.
  abstract: Jacobian matrix. This new Jacobian has a condition
  abstract: Many engineering problems are studied through numerical
  abstract: methods of scaling matrices to improve the condition
  abstract: methods, and scaling of the kinematic parameters
  abstract: number that is significantly better than those derived
  abstract: number. However, robotics researchers have not
  abstract: number. 111-conditioned matrices significantly slow,
  abstract: numbers than matrices used in standard calibration
  abstract: of the rotational kinematic parameters' independence
  abstract: problems require iterative algorithms. In many cases
  abstract: Researchers in other fields have developed specific
  abstract: rotational parameters are estimated using a new type of
  abstract: schemes that use large matrices to mathematically
  abstract: specifically addressed, in robotics literature, their
  abstract: standard methods in that it is iterative. There are
  abstract: tested on rotational joint robots only. The key
  abstract: that uses matrices with significantly better condition
  abstract: the matrices used in these numerical schemes are found
  abstract: to be "ill-conditioned", or close to singularity. The
  abstract: translational parameters are solved separately in a
  abstract: two steps to each iteration. In the first step, the
  abstract: using iterative methods. Scaling is a common way of
  note: by Thomas W. Ives.
  note: "Major subject: Mechanical Engineering".
  note: Vita.
  note: Also available online.
  note: Issued also on microfiche from Lange Micrographics.
  note: M.S. Texas A&M University 1995.
  note: Includes bibliographical references.
  subject:
    topic: Major mechanical engineering
  identifier: https://hdl.handle.net/1969.1/ETD-TAMU-1995-THESIS-I94
  related item:
    location:
      url: https://hdl.handle.net/1969.1/ETD-TAMU-1995-THESIS-I94
  record info:
    record content source: TXA
    record creation date: 960709
    record change date: 20220103134446.0
    record identifier: in00001310213