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dc.contributor.advisorDriels, Morris
dc.contributor.authorBurger, Robert J.
dc.dateDecember, 1994
dc.date.accessioned2013-04-11T21:53:20Z
dc.date.available2013-04-11T21:53:20Z
dc.date.issued1994-12
dc.identifier.urihttp://hdl.handle.net/10945/30530
dc.description.abstractA 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.en_US
dc.description.urihttp://archive.org/details/roboticmanipulat1094530530
dc.format.extent101 p.;28 cm.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.titleRobotic manipulator calibration : development of a general method for kinematic model parameter set identificationen_US
dc.title.alternativeNAen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineering
dc.subject.authorNAen_US
dc.description.funderNAen_US
dc.description.recognitionNAen_US
dc.description.serviceU.S. Navy (U.S.N.) author.en_US
etd.thesisdegree.nameM.S. in Mechanical Engineering and Mechanical Engineeren_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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