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題名 | The Calibration Model for Industrial Robots |
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作者姓名(中文) | 溫家俊; | 書刊名 | 光武學報 |
卷期 | 23 1998.11[民87.11] |
頁次 | 頁105-120 |
分類號 | 448.94 |
關鍵詞 | 工業機器人; 校正模式; |
語文 | 英文(English) |
英文摘要 | In this paper, an approach, based on a new generic kinematic model, is introduced for robot calibration. Here, the generic kinematic model, which could map various transformations, is used to establish the differential relationship between cartesian coordinates of end-effectors and manipulator joint coordinates. However, it is very important to select and verify the required number of independent parameters during the identified process. Once complete model is selected properly, the identification algorithm can be developed straightforwardly. |
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