Author Type

Graduate Student

Date of Award

1991

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Huang, Ming Z.

Abstract

During the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement scheme using an instrumented articulated linkage. The basis of parameter identification approach is similar to that of closed-loop mechanism syntheses. Jacobian formulation using a vector cross product method with mixed choices of kinematic model for coordinate system representation is adopted. Effectiveness of this method and factors affecting the calibration are examined using simulation. A complete design of the measurement device, both electrical and mechanical, is also presented.

Extent

107 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 1991.|College of Engineering and Computer Science

Identifier

FADT14732

Format

pdf

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