Measurement and calibration of a six-axis reconfigurable parallel robot system
A modular reconfigurable parallel robot system consists of standardized links and joint components that can be assembled into a particular geometry for specific tasks. The modular parallel robot can have numerous configurations. Here, the focus is on systematically identified and analyzed a class of...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Research Report |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10356/6948 |
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| Institution: | Nanyang Technological University |
| Summary: | A modular reconfigurable parallel robot system consists of standardized links and joint components that can be assembled into a particular geometry for specific tasks. The modular parallel robot can have numerous configurations. Here, the focus is on systematically identified and analyzed a class of three-legged non-redundant parallel robots. Such robots have symmetrical geometry, simple kinematics and desirable characteristics suitable for practical applications. The objectives of this project are to develop a configuration-independent kinematic calibration model and computational algorithms for the reconfigurable robot system, to experimentally validate the calibration model, and to design a portable stand-along robot calibration unit with real-time data acquisition, and processing functions. |
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