Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots
A modular reconfigurable robot system (MRRS) is a collection of individual link and joint units that can be assembled into various robot configurations for a diversity of task requirements. Such a modularized robotic system can be applied in various scenarios: an individual joint unit can be used as...
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2008
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| Online Access: | http://hdl.handle.net/10356/13452 |
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sg-ntu-dr.10356-134522023-03-11T16:56:45Z Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots Yang, Guilin Chen, I-Ming School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering::Robots A modular reconfigurable robot system (MRRS) is a collection of individual link and joint units that can be assembled into various robot configurations for a diversity of task requirements. Such a modularized robotic system can be applied in various scenarios: an individual joint unit can be used as an independent motion control element; fully assembled systems can be used as standard robots with various configurations and degrees of freedom (DOFs). This thesis focuses on the issues pertinent to an MRRS: design, modeling, and optimization. Doctor of Philosophy (MPE) 2008-08-19T04:45:20Z 2008-10-20T08:18:50Z 2008-08-19T04:45:20Z 2008-10-20T08:18:50Z 1999 1999 Thesis http://hdl.handle.net/10356/13452 en 187 p. application/pdf |
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Asia |
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Singapore Singapore |
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English |
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DRNTU::Engineering::Mechanical engineering::Robots |
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DRNTU::Engineering::Mechanical engineering::Robots Yang, Guilin Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots |
| description |
A modular reconfigurable robot system (MRRS) is a collection of individual link and joint units that can be assembled into various robot configurations for a diversity of task requirements. Such a modularized robotic system can be applied in various scenarios: an individual joint unit can be used as an independent motion control element; fully assembled systems can be used as standard robots with various configurations and degrees of freedom (DOFs). This thesis focuses on the issues pertinent to an MRRS: design, modeling, and optimization. |
| author2 |
Chen, I-Ming |
| author_facet |
Chen, I-Ming Yang, Guilin |
| format |
Theses and Dissertations |
| author |
Yang, Guilin |
| author_sort |
Yang, Guilin |
| title |
Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots |
| title_short |
Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots |
| title_full |
Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots |
| title_fullStr |
Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots |
| title_full_unstemmed |
Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots |
| title_sort |
kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots |
| publishDate |
2008 |
| url |
http://hdl.handle.net/10356/13452 |
| _version_ |
1761781921089585152 |