This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
By retrieving entries from the financial-data vendor Wind and collecting relevant data from private placement statements, the author builds a proprietary database and studies five aspects of private placement in China. He examines which listed firms are more likely to choose private placement over SEO in refinancing; he looks into the controlling shareholder’s decision on whether or not to purchase privately placed shares; he investigates how the offer discount is determined; he calculates announcement periods for abnormal returns on private placements. Where the abnormal return is significantly positive, he documents positive long-run abnormal return on private offerings and evidence supporting the under-reaction hypothesis. Finally, he concludes that the largest shareholders tunnel by means of excess discounts from which they benefit but which is harmful to other shareholders.
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