Precision Robot Calibration Using Kinematically Placed Inclinometers

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/1669

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DC Field	Value	Language
dc.creator	Robertson, Alec P.	-
dc.creator	Slocum, Alexander	-
dc.creator	Willoughby, Patrick J.	-
dc.date	2002-09-17T15:34:47Z	-
dc.date	2002-09-17T15:34:47Z	-
dc.date	2002-09-17T15:34:47Z	-
dc.date.accessioned	2013-05-31T19:14:13Z	-
dc.date.available	2013-05-31T19:14:13Z	-
dc.date.issued	2013-06-01	-
dc.identifier	http://hdl.handle.net/1721.1/1669	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/jspui/handle/1721	-
dc.description	In the field of industrial robotics, many different calibration methods exist to reduce error in the robot system. Locating the manipulator home position is a common calibration technique, which can be divided into three main categories relative, optimal and leveling based methods. The home position of an industrial manipulator is a position where all joint angles have a pre-defined value (e.g. zero or 90 degrees), which can be transformed into Cartesian space via the robot kinematics. Large industrial manipulators, with a working range in the order of several meters, require an accurately defined home position that can be restored with repeatability in the order of 0.2mm in Cartesian space or 0.01 degrees in Joint space.	-
dc.format	147280 bytes	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.subject	robot calibration	-
dc.subject	kinematic coupling	-
dc.subject	inclinometer	-
dc.subject	leveling devices	-
dc.title	Precision Robot Calibration Using Kinematically Placed Inclinometers	-
Appears in Collections:	MIT Items

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