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

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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.

Keywords

  • Inverse Kinematic
  • Kinematic Chain
  • Stereo Vision
  • Service Robot
  • Visual Servoing

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  • DOI: 10.1007/978-1-4471-1273-0_47
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© 1998 Springer-Verlag London Limited

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Ang, W.T., Xie, M. (1998). Mobile Robotic Hand-Eye Co-ordination Platform: Design and Modelling. In: Zelinsky, A. (eds) Field and Service Robotics. Springer, London. https://doi.org/10.1007/978-1-4471-1273-0_47

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  • DOI: https://doi.org/10.1007/978-1-4471-1273-0_47

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1275-4

  • Online ISBN: 978-1-4471-1273-0

  • eBook Packages: Springer Book Archive