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Title page for etd-0817104-190137


URN etd-0817104-190137 Statistics This thesis had been viewed 4060 times. Download 1380 times.
Author Jian-Liang Chen
Author's Email Address No Public.
Department Mechanical Engineering
Year 2003 Semester 2
Degree Master Type of Document Master's Thesis
Language English Page Count 40
Title Calibration of Modular Robot Using a Vision System
Keyword
  • Vision-Based M
  • Modular Robot
  • Robot Calibration
  • Robot Calibration
  • Modular Robot
  • Vision-Based M
  • Abstract To improve robot positioning accuracy due to manufacturing errors in the machining and assembling, robot calibration is used. D-H method is used to establish modular robot kinematic model and error model for modular robot calibration. After camera is calibrated with Zhang’s method [14], Tsai’s method [13] is modified for measuring position of modular robot end-effector. And the least-squares algorithm is applied to estimate error parameters of modular robot. The experimental results show that the model error of the modular robot can be reduced by compensating with the error parameters calibrated.
    Advisor Committee
  • Yen-Cheng Lin - advisor
  • Long-Jyi Yeh - co-chair
  • none - co-chair
  • Files indicate in-campus access immediately and off-campus access at one year
    Date of Defense 2004-07-30 Date of Submission 2004-08-17


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