Robotic manipulator calibration : development of a general method for kinematic model parameter set identification
Burger, Robert J.
MetadataShow full item record
A general method for establishing a kinematic model of a robotic manipulator with either a full or partial pose calibration system is developed. The theory applicable to modeling of mechanisms is introduced, as is robotic manipulator calibration. Given a general over-specified kinematic model, a method is developed, with the associated algorithms for a six degree of freedom manipulator, that identifies non-unique parameter sets for any given partial pose measurement system. This method is applied and demonstrated on three existing calibration methods.
Showing items related by title, author, creator and subject.
Romano, M.; Agrawal, B. (2004);The dynamics equations of a spacecraft consisting of two bodies mutually rotating around a common gimbal axis are derived by the use of the Newton–Euler approach. One of the bodies contains a cluster of single-gimbal var ...
Prediction of propulsor-induced of maneuvering forces using a coupled viscous/potential-flow method for integrated propulsors Warren, Christopher L. (Monterey, California. Naval Postgraduate School, 1999-06-01);This thesis develops a method to analyze the maneuvering forces on surfaced and underwater vehicles with complex propulsors. The analysis method is developed for general propellers yet has unique applicability to model ...
Ross, I. Michael (Naval Postgraduate School (U.S.), 2005);In 1696, Johann Bernoulli solved the brachistochrone problem by an ingenious method of combining Fermat's principle of minimum time, Snell's law of refraction and finite element discretization. This appears to be the first ...