Mobile Robotic Hand-Eye Co-ordination Platform: Design and Modelling

  • Wei Tech Ang
  • Ming Xie
Conference paper

Abstract

This paper presents the design and kinematics modelling of a general purpose vision guided service robot for structured indoor environment. Modular active links of 2 DOF are serially connected to make up the robot arms. Because of the unique design characteristics of the active links, we are able to formulate a closed form geometric inverse kinematics method that is simpler and more efficient than the conventional methods.

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Copyright information

© Springer-Verlag London Limited 1998

Authors and Affiliations

  • Wei Tech Ang
    • 1
  • Ming Xie
    • 1
  1. 1.School of Mechanical and Production Eng.Nanyang Technological UniversitySingapore

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