DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jeong, JW | ko |
dc.contributor.author | Kim, Soohyun | ko |
dc.contributor.author | Kwak, Yoon Keun | ko |
dc.contributor.author | Smith, CC | ko |
dc.date.accessioned | 2008-01-08T06:27:45Z | - |
dc.date.available | 2008-01-08T06:27:45Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1998-12 | - |
dc.identifier.citation | MECHATRONICS, v.8, no.8, pp.845 - 861 | - |
dc.identifier.issn | 0957-4158 | - |
dc.identifier.uri | http://hdl.handle.net/10203/2659 | - |
dc.description.abstract | This paper presents a parallel wire mechanism developed for measuring six degrees of freedom of a robot end-effector: The mechanism consists of six parallel wire links. The position and orientation of a robot are obtained from the wire lengths measured in the parallel wire mechanism. The complex nonlinear equations of th forward kinematics are solved by using a Newton-Raphson method, and a unique solution is determined from the geometric configuration of the developed mechanism. The wire length error caused by longitudinal deformation of the wires is compensated by a wire compensation factor. Through the experiment, it is verified that the developed mechanism has an accuracy of +/-0.05 mm, +/-0.1 degrees in the position and the orientation, respectively. The developed parallel wire mechanism can be used effectively for measuring the position and orientation of a six degree of freedom (DOF) of robot end-effector with low cost and effort. (C) 1998 Elsevier Science Ltd. All rights reserved. | - |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.subject | CALIBRATION | - |
dc.subject | MANIPULATOR | - |
dc.title | Development of a parallel wire mechanism for measuring position and orientation of a robot end-effector | - |
dc.type | Article | - |
dc.identifier.wosid | 000077374500003 | - |
dc.identifier.scopusid | 2-s2.0-0032289831 | - |
dc.type.rims | ART | - |
dc.citation.volume | 8 | - |
dc.citation.issue | 8 | - |
dc.citation.beginningpage | 845 | - |
dc.citation.endingpage | 861 | - |
dc.citation.publicationname | MECHATRONICS | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Kim, Soohyun | - |
dc.contributor.localauthor | Kwak, Yoon Keun | - |
dc.contributor.nonIdAuthor | Jeong, JW | - |
dc.contributor.nonIdAuthor | Smith, CC | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordPlus | CALIBRATION | - |
dc.subject.keywordPlus | MANIPULATOR | - |
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