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URN etd-0817104-190137 Statistics This thesis had been viewed 3869 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 , Tsai’s method  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 Date of Defense 2004-07-30 Date of Submission 2004-08-17