A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots
A modular reconfigurable robot system is a collection of standardized individual link and joint components that can be assembled into a particular geometry for a specific task. However, kinematic calibration is necessary for such a system because machining tolerances in fabrication, assembly errors,...
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
| Published: |
2008
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| Online Access: | http://hdl.handle.net/10356/13391 |
| _version_ | 1824453791200575488 |
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| author | Tan, Chee Tat. |
| author2 | Chen, I-Ming |
| author_facet | Chen, I-Ming Tan, Chee Tat. |
| author_sort | Tan, Chee Tat. |
| collection | NTU |
| description | A modular reconfigurable robot system is a collection of standardized individual link and joint components that can be assembled into a particular geometry for a specific task. However, kinematic calibration is necessary for such a system because machining tolerances in fabrication, assembly errors, wear, and drifts will create kinematic errors in the modular robot structure. Kinematic calibration is a process to identify and compensate for these inherent errors, through model modification, and thus can improve the absolute positioning accuracy of the robot. Similarly when applied for industrial robotics, kinematic calibration serves as a tool for improving the robot accuracy to its system repeatability. This thesis emphasizes on both the theoretical and experimental aspects of robot kinematic calibration. |
| first_indexed | 2025-02-19T03:12:02Z |
| format | Thesis |
| id | ntu-10356/13391 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:12:02Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/133912023-03-11T17:27:30Z A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots Tan, Chee Tat. Chen, I-Ming School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering::Robots A modular reconfigurable robot system is a collection of standardized individual link and joint components that can be assembled into a particular geometry for a specific task. However, kinematic calibration is necessary for such a system because machining tolerances in fabrication, assembly errors, wear, and drifts will create kinematic errors in the modular robot structure. Kinematic calibration is a process to identify and compensate for these inherent errors, through model modification, and thus can improve the absolute positioning accuracy of the robot. Similarly when applied for industrial robotics, kinematic calibration serves as a tool for improving the robot accuracy to its system repeatability. This thesis emphasizes on both the theoretical and experimental aspects of robot kinematic calibration. Master of Engineering (MPE) 2008-08-06T01:11:09Z 2008-10-20T08:15:16Z 2008-08-06T01:11:09Z 2008-10-20T08:15:16Z 1999 1999 Thesis http://hdl.handle.net/10356/13391 en 169 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Robots Tan, Chee Tat. A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots |
| title | A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots |
| title_full | A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots |
| title_fullStr | A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots |
| title_full_unstemmed | A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots |
| title_short | A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots |
| title_sort | local product of exponentials method for the kinematic calibration of modular reconfigurable robots |
| topic | DRNTU::Engineering::Mechanical engineering::Robots |
| url | http://hdl.handle.net/10356/13391 |
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