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🎯 Camera Repositioning with Absolute Arm Using Serial Kinematics

πŸ“Œ Objective

Precisely reposition a camera using an absolute arm, ensuring accurate localization within a global coordinate system. The goal is to correct errors caused by discrepancies between input commands and actual camera movement.

πŸ” Problem Statement

A significant error arises during the translation of command inputs into real camera positions. This project aims to identify, model, and correct this positioning error.

🧠 Approach

  • Kinematic Modeling in MATLAB: Utilized serial kinematics to analyze and rectify positioning inaccuracies.
  • Error Correction Algorithms: Developed to correct deviations using real-time data.
  • Sensor Integration: Employed a goniometer for precise angle measurements.
  • Experimental Validation: Constructed a custom measurement setup to validate the results.

πŸ§ͺ Outcome

  • Improved reliability and precision of the camera positioning.
  • Demonstrated accurate serial kinematics-based error correction using MATLAB.
  • Validated the workflow through experimental trials.

About

This project is developed while I was working at the Institute of Mechatronics in Mechanical Engineering at TU Hamburg

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