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Showing 1 to 8 of 8 for “"Homogeneous Transformation"”.
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Design and simulation of a rapid high percision profilometer
… The image reconstruction algorithms and system homogeneous transformation matrices (HTMs) are utilized in the simulations of the system. The simulations examine multiple scanning scenarios to determine the necessary requirements of the device to achieve the specified resolution. The system …
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Design and implementation of a high precision profilometer
… necessary positioning precision and stability. A homogeneous transformation matrix (HTM) method was developed for calculating the profiling errors due to stage positioning errors. The actual performance and calibration of the profilometer system was investigated through various tests, including: …
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Computation of Suitable Grasp Pose for Usage of Objects Based on Predefined Training and Real-time Pose Estimation
… poses. We present a grasping mechanism using homogeneous transformation that allows a humanoid robot to grasp objects in such a way that is suitable for the usage of the objects. The system captures the relative poses of an object and a robot's wrist for training such that when the object's …
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Symbolic automation and numerical synthesis for robot kinematics
… the inverse kinematics problem: the inverse homogeneous transformation matrices approach, the geometric approach, and the arm-wrist partitioned synthesis approach. The first two approaches yield the symbolic closed-form solutions; the last approach, based on the iterative technique, provides …
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A unified approach to modeling, verifying, and improving the manufacturability of mechanical assemblies
… a combination of Screw Theory, Network Theory, Homogeneous Transformation Matrices, and Probability Theory. It is shown how this model can be used to verify the manufacturability of a mechanical assembly design. It is also shown how the model and the results obtained from it can be used to …
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Hybrid inkjet and direct-write multi-material additive manufacturing
… holder is completed. An error budget employing Homogeneous Transformation Matrices was maintained to estimate the tooltip errors. In order to register these two non-contact printing processes, a unique approach to their registration to a common global origin was necessary. A single non-contact …
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Machine tool accuracy characterization, error modeling and compensation using telescopic ballbar and laser interferometer
… axes vertical machining center is modeled using Homogeneous Transformation Matrix (HTM). By synthesizing the machine's parametric errors such as linear positioning errors, roll, pitch and yaw etc., an expression for the volumetric errors in the multi-axis machine is developed. The developed …
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Variation propagation modelling and cost-oriented process optimisation for aircraft assembly
… and assembly features are modelled using the homogeneous transformation matrix method. An algorithm is developed to model the assembly technique, which has a major impact on assembly variations in overconstrained assemblies.<br/>Using a sensitivity study, the variation propagation model …