A local product-of-exponentials method for the kinematic calibration of modular reconfigurable robots

• Main Author: Tan, Chee Tat.
• Other Authors: Chen, I-Ming
• Format: Theses and Dissertations
• Language: English
• Published: 2008
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/13391
• Institution: Nanyang Technological University

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,...