SIMULATED AND EXPERIMENTAL KINEMATIC CALIBRATION OF A 4 DEGREES OF FREEDOM PARALLEL MANIPULATOR

SIMULATED AND EXPERIMENTAL KINEMATIC CALIBRATION OF A 4 DEGREES OF FREEDOM PARALLEL MANIPULATOR

This thesis discusses the kinematic calibration of the constraining linkage of a four degrees of freedom parallel manipulator. The manipulator has hybrid actuation of joints and wires, however the wires are not considered in this calibration. Two of the passive joints of the manipulator contain sens...

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Bibliographic Details
Main Author: Horne, Andrew
Other Authors: Queen's University (Kingston, Ont.). Theses (Queen's University (Kingston, Ont.))
Language:en
en
Published: 2013
Subjects:
Calibration
Robotics
Calibration Pose Selection
Mechanical Engineering
Kinematic Calibration
Online Access:http://hdl.handle.net/1974/7726

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