Abstract
A novel approach is developed for identifying both the position and orientation of the base joints of modular platform manipulators. This new approach first establishes a spherical triangle to isolate and solve for one of the unknown placement parameters. With the reduced complexity, a closed-form formulation is then developed for the remaining unknown parameters through Dialytic Elimination for two identification poses. The identification process with the presented method is illustrated with a numerical example.
Volume Subject Area:
Advances in Robot Dynamics and Control
Topics:
Manipulators
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Copyright © 2001 by The American Society of Mechanical Engineers
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