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Title: Measurement and calibration of a six-axis reconfigurable parallel robot system
Authors: Chen, I-Ming.
Yeo, Song Huat.
Keywords: DRNTU::Engineering::Mechanical engineering::Robots
Issue Date: 2003
Abstract: 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.
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Research Reports (Staff & Graduate Students)

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