Calibration of modular reconfigurable robot systems

• Main Authors: Chen, I-Ming., Yeo, Song Huat.
• 其他作者: School of Mechanical and Production Engineering
• 格式: Research Report
• 出版: 2008
• 主題: DRNTU::Engineering::Mechanical engineering::Robots
• 在線閱讀: http://hdl.handle.net/10356/6999

This report describes both the theoretical and experimental aspects of robot kinematics calibration. The kinematics of the modular robot is established in a local coordinate description based on the Product-of-Exponentials formula, termed Local POE kinematics.