Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators

In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to g...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Benjamin L. Moser [verfasserIn] Joshua A. Gordon [verfasserIn] Andrew J. Petruska [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2021

Schlagwörter:	parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty

Übergeordnetes Werk:	In: Robotics - MDPI AG, 2013, 10(2021), 4, p 124
Übergeordnetes Werk:	volume:10 ; year:2021 ; number:4, p 124

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/robotics10040124

Katalog-ID:	DOAJ07935808X

Internformat


LEADER	01000caa a22002652 4500
001	DOAJ07935808X
003	DE-627
005	20240414222516.0
007	cr uuu---uuuuu
008	230307s2021 xx \|\|\|\|\|o 00\| \|\|eng c
024	7		\|a 10.3390/robotics10040124 \|2 doi
035			\|a (DE-627)DOAJ07935808X
035			\|a (DE-599)DOAJe329b300e07c437783b2217241dbb10b
040			\|a DE-627 \|b ger \|c DE-627 \|e rakwb
041			\|a eng
050		0	\|a TJ1-1570
100	0		\|a Benjamin L. Moser \|e verfasserin \|4 aut
245	1	0	\|a Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
264		1	\|c 2021
336			\|a Text \|b txt \|2 rdacontent
337			\|a Computermedien \|b c \|2 rdamedia
338			\|a Online-Ressource \|b cr \|2 rdacarrier
520			\|a In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.
650		4	\|a parallel manipulators
650		4	\|a robot kinematic calibration
650		4	\|a hybrid manipulators
650		4	\|a pose uncertainty
653		0	\|a Mechanical engineering and machinery
700	0		\|a Joshua A. Gordon \|e verfasserin \|4 aut
700	0		\|a Andrew J. Petruska \|e verfasserin \|4 aut
773	0	8	\|i In \|t Robotics \|d MDPI AG, 2013 \|g 10(2021), 4, p 124 \|w (DE-627)718632443 \|w (DE-600)2662587-8 \|x 22186581 \|7 nnns
773	1	8	\|g volume:10 \|g year:2021 \|g number:4, p 124
856	4	0	\|u https://doi.org/10.3390/robotics10040124 \|z kostenfrei
856	4	0	\|u https://doaj.org/article/e329b300e07c437783b2217241dbb10b \|z kostenfrei
856	4	0	\|u https://www.mdpi.com/2218-6581/10/4/124 \|z kostenfrei
856	4	2	\|u https://doaj.org/toc/2218-6581 \|y Journal toc \|z kostenfrei
912			\|a GBV_USEFLAG_A
912			\|a SYSFLAG_A
912			\|a GBV_DOAJ
912			\|a GBV_ILN_11
912			\|a GBV_ILN_20
912			\|a GBV_ILN_22
912			\|a GBV_ILN_23
912			\|a GBV_ILN_24
912			\|a GBV_ILN_39
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_95
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_151
912			\|a GBV_ILN_161
912			\|a GBV_ILN_170
912			\|a GBV_ILN_213
912			\|a GBV_ILN_230
912			\|a GBV_ILN_285
912			\|a GBV_ILN_293
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_4012
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4249
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4306
912			\|a GBV_ILN_4307
912			\|a GBV_ILN_4313
912			\|a GBV_ILN_4322
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4325
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4367
912			\|a GBV_ILN_4700
951			\|a AR
952			\|d 10 \|j 2021 \|e 4, p 124

Indexfelder

author_variant	b l m blm j a g jag a j p ajp
matchkey_str	article:22186581:2021----::nfeprmtrztoadairtoosraprlea
hierarchy_sort_str	2021
callnumber-subject-code	TJ
publishDate	2021
allfields	10.3390/robotics10040124 doi (DE-627)DOAJ07935808X (DE-599)DOAJe329b300e07c437783b2217241dbb10b DE-627 ger DE-627 rakwb eng TJ1-1570 Benjamin L. Moser verfasserin aut Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets. parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty Mechanical engineering and machinery Joshua A. Gordon verfasserin aut Andrew J. Petruska verfasserin aut In Robotics MDPI AG, 2013 10(2021), 4, p 124 (DE-627)718632443 (DE-600)2662587-8 22186581 nnns volume:10 year:2021 number:4, p 124 https://doi.org/10.3390/robotics10040124 kostenfrei https://doaj.org/article/e329b300e07c437783b2217241dbb10b kostenfrei https://www.mdpi.com/2218-6581/10/4/124 kostenfrei https://doaj.org/toc/2218-6581 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2021 4, p 124
spelling	10.3390/robotics10040124 doi (DE-627)DOAJ07935808X (DE-599)DOAJe329b300e07c437783b2217241dbb10b DE-627 ger DE-627 rakwb eng TJ1-1570 Benjamin L. Moser verfasserin aut Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets. parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty Mechanical engineering and machinery Joshua A. Gordon verfasserin aut Andrew J. Petruska verfasserin aut In Robotics MDPI AG, 2013 10(2021), 4, p 124 (DE-627)718632443 (DE-600)2662587-8 22186581 nnns volume:10 year:2021 number:4, p 124 https://doi.org/10.3390/robotics10040124 kostenfrei https://doaj.org/article/e329b300e07c437783b2217241dbb10b kostenfrei https://www.mdpi.com/2218-6581/10/4/124 kostenfrei https://doaj.org/toc/2218-6581 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2021 4, p 124
allfields_unstemmed	10.3390/robotics10040124 doi (DE-627)DOAJ07935808X (DE-599)DOAJe329b300e07c437783b2217241dbb10b DE-627 ger DE-627 rakwb eng TJ1-1570 Benjamin L. Moser verfasserin aut Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets. parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty Mechanical engineering and machinery Joshua A. Gordon verfasserin aut Andrew J. Petruska verfasserin aut In Robotics MDPI AG, 2013 10(2021), 4, p 124 (DE-627)718632443 (DE-600)2662587-8 22186581 nnns volume:10 year:2021 number:4, p 124 https://doi.org/10.3390/robotics10040124 kostenfrei https://doaj.org/article/e329b300e07c437783b2217241dbb10b kostenfrei https://www.mdpi.com/2218-6581/10/4/124 kostenfrei https://doaj.org/toc/2218-6581 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2021 4, p 124
allfieldsGer	10.3390/robotics10040124 doi (DE-627)DOAJ07935808X (DE-599)DOAJe329b300e07c437783b2217241dbb10b DE-627 ger DE-627 rakwb eng TJ1-1570 Benjamin L. Moser verfasserin aut Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets. parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty Mechanical engineering and machinery Joshua A. Gordon verfasserin aut Andrew J. Petruska verfasserin aut In Robotics MDPI AG, 2013 10(2021), 4, p 124 (DE-627)718632443 (DE-600)2662587-8 22186581 nnns volume:10 year:2021 number:4, p 124 https://doi.org/10.3390/robotics10040124 kostenfrei https://doaj.org/article/e329b300e07c437783b2217241dbb10b kostenfrei https://www.mdpi.com/2218-6581/10/4/124 kostenfrei https://doaj.org/toc/2218-6581 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2021 4, p 124
allfieldsSound	10.3390/robotics10040124 doi (DE-627)DOAJ07935808X (DE-599)DOAJe329b300e07c437783b2217241dbb10b DE-627 ger DE-627 rakwb eng TJ1-1570 Benjamin L. Moser verfasserin aut Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets. parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty Mechanical engineering and machinery Joshua A. Gordon verfasserin aut Andrew J. Petruska verfasserin aut In Robotics MDPI AG, 2013 10(2021), 4, p 124 (DE-627)718632443 (DE-600)2662587-8 22186581 nnns volume:10 year:2021 number:4, p 124 https://doi.org/10.3390/robotics10040124 kostenfrei https://doaj.org/article/e329b300e07c437783b2217241dbb10b kostenfrei https://www.mdpi.com/2218-6581/10/4/124 kostenfrei https://doaj.org/toc/2218-6581 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 10 2021 4, p 124
language	English
source	In Robotics 10(2021), 4, p 124 volume:10 year:2021 number:4, p 124
sourceStr	In Robotics 10(2021), 4, p 124 volume:10 year:2021 number:4, p 124
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty Mechanical engineering and machinery
isfreeaccess_bool	true
container_title	Robotics
authorswithroles_txt_mv	Benjamin L. Moser @@aut@@ Joshua A. Gordon @@aut@@ Andrew J. Petruska @@aut@@
publishDateDaySort_date	2021-01-01T00:00:00Z
hierarchy_top_id	718632443
id	DOAJ07935808X
language_de	englisch
fullrecord	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ07935808X</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240414222516.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230307s2021 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.3390/robotics10040124</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ07935808X</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJe329b300e07c437783b2217241dbb10b</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TJ1-1570</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Benjamin L. Moser</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2021</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">parallel manipulators</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">robot kinematic calibration</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">hybrid manipulators</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">pose uncertainty</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Mechanical engineering and machinery</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Joshua A. Gordon</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Andrew J. Petruska</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">Robotics</subfield><subfield code="d">MDPI AG, 2013</subfield><subfield code="g">10(2021), 4, p 124</subfield><subfield code="w">(DE-627)718632443</subfield><subfield code="w">(DE-600)2662587-8</subfield><subfield code="x">22186581</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:10</subfield><subfield code="g">year:2021</subfield><subfield code="g">number:4, p 124</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.3390/robotics10040124</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/e329b300e07c437783b2217241dbb10b</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://www.mdpi.com/2218-6581/10/4/124</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/2218-6581</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_11</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">10</subfield><subfield code="j">2021</subfield><subfield code="e">4, p 124</subfield></datafield></record></collection>
callnumber-first	T - Technology
author	Benjamin L. Moser
spellingShingle	Benjamin L. Moser misc TJ1-1570 misc parallel manipulators misc robot kinematic calibration misc hybrid manipulators misc pose uncertainty misc Mechanical engineering and machinery Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
authorStr	Benjamin L. Moser
ppnlink_with_tag_str_mv	@@773@@(DE-627)718632443
format	electronic Article
delete_txt_mv	keep
author_role	aut aut aut
collection	DOAJ
remote_str	true
callnumber-label	TJ1-1570
illustrated	Not Illustrated
issn	22186581
topic_title	TJ1-1570 Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty
topic	misc TJ1-1570 misc parallel manipulators misc robot kinematic calibration misc hybrid manipulators misc pose uncertainty misc Mechanical engineering and machinery
topic_unstemmed	misc TJ1-1570 misc parallel manipulators misc robot kinematic calibration misc hybrid manipulators misc pose uncertainty misc Mechanical engineering and machinery
topic_browse	misc TJ1-1570 misc parallel manipulators misc robot kinematic calibration misc hybrid manipulators misc pose uncertainty misc Mechanical engineering and machinery
format_facet	Elektronische Aufsätze Aufsätze Elektronische Ressource
format_main_str_mv	Text Zeitschrift/Artikel
carriertype_str_mv	cr
hierarchy_parent_title	Robotics
hierarchy_parent_id	718632443
hierarchy_top_title	Robotics
isfreeaccess_txt	true
familylinks_str_mv	(DE-627)718632443 (DE-600)2662587-8
title	Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
ctrlnum	(DE-627)DOAJ07935808X (DE-599)DOAJe329b300e07c437783b2217241dbb10b
title_full	Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
author_sort	Benjamin L. Moser
journal	Robotics
journalStr	Robotics
callnumber-first-code	T
lang_code	eng
isOA_bool	true
recordtype	marc
publishDateSort	2021
contenttype_str_mv	txt
author_browse	Benjamin L. Moser Joshua A. Gordon Andrew J. Petruska
container_volume	10
class	TJ1-1570
format_se	Elektronische Aufsätze
author-letter	Benjamin L. Moser
doi_str_mv	10.3390/robotics10040124
author2-role	verfasserin
title_sort	unified parameterization and calibration of serial, parallel, and hybrid manipulators
callnumber	TJ1-1570
title_auth	Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
abstract	In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.
abstractGer	In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.
abstract_unstemmed	In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.
collection_details	GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700
container_issue	4, p 124
title_short	Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
url	https://doi.org/10.3390/robotics10040124 https://doaj.org/article/e329b300e07c437783b2217241dbb10b https://www.mdpi.com/2218-6581/10/4/124 https://doaj.org/toc/2218-6581
remote_bool	true
author2	Joshua A. Gordon Andrew J. Petruska
author2Str	Joshua A. Gordon Andrew J. Petruska
ppnlink	718632443
callnumber-subject	TJ - Mechanical Engineering and Machinery
mediatype_str_mv	c
isOA_txt	true
hochschulschrift_bool	false
doi_str	10.3390/robotics10040124
callnumber-a	TJ1-1570
up_date	2024-07-03T23:04:17.327Z
_version_	1803600902045564928
fullrecord_marcxml	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ07935808X</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240414222516.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230307s2021 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.3390/robotics10040124</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ07935808X</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJe329b300e07c437783b2217241dbb10b</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TJ1-1570</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Benjamin L. Moser</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2021</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<m RMS position error and 71.2 <inline-formula<<math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"<<semantics<<mi mathvariant="sans-serif"<μ</mi<</semantics<</math<</inline-formula<rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">parallel manipulators</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">robot kinematic calibration</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">hybrid manipulators</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">pose uncertainty</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Mechanical engineering and machinery</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Joshua A. Gordon</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Andrew J. Petruska</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">Robotics</subfield><subfield code="d">MDPI AG, 2013</subfield><subfield code="g">10(2021), 4, p 124</subfield><subfield code="w">(DE-627)718632443</subfield><subfield code="w">(DE-600)2662587-8</subfield><subfield code="x">22186581</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:10</subfield><subfield code="g">year:2021</subfield><subfield code="g">number:4, p 124</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.3390/robotics10040124</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/e329b300e07c437783b2217241dbb10b</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://www.mdpi.com/2218-6581/10/4/124</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/2218-6581</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_11</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">10</subfield><subfield code="j">2021</subfield><subfield code="e">4, p 124</subfield></datafield></record></collection>
score	7.4000187

Nicht das Richtige dabei?

Schreiben Sie uns!

Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators

Nicht das Richtige dabei?

Zugang & Verfügbarkeit

Vorhandene Bände

Nicht das Richtige dabei?