Calibration and compensation of deflections and compliances in remote handling equipment configurations
| Autor: | Jouni Mattila, Tuomo Kivelä, Hannu Saarinen, V. Hämäläinen, Luigi Semeraro, Mikko Siuko |
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| Jazyk: | angličtina |
| Rok vydání: | 2011 |
| Předmět: |
Robot calibration
Payload Computer science Divertor Test Platform 2 Mechanical Engineering Kinematics law.invention Compensation (engineering) Computer Science::Robotics Nuclear Energy and Engineering Control theory Position (vector) law ITER Calibration Cassette Multifunctional Mover Robot General Materials Science Cartesian coordinate system Civil and Structural Engineering |
| Zdroj: | Kivelä, T, Saarinen, H, Mattila, J, Hämäläinen, V, Siuko, M & Semeraro, L 2011, ' Calibration and compensation of deflections and compliances in remote handling equipment configurations ', Fusion Engineering and Design, vol. 86, no. 9-11, pp. 2043-2046 . https://doi.org/10.1016/j.fusengdes.2010.12.032 |
| ISSN: | 1873-7196 0920-3796 |
| DOI: | 10.1016/j.fusengdes.2010.12.032 |
| Popis: | This paper presents a generic method of calibrating and compensating remote handling system configurations subject to manufacturing and assembly tolerances, deflections and compliances. A method consists of kinematic part and non-kinematic part. A kinematic calibration algorithm is presented for finding the values of kinematic model errors by measuring the end-effector Cartesian position. This is a conventional way to calibrate industrial robots. However, in this case the kinematic calibration is not able to compensate flaws fully due to large deflections and compliances caused by a massive Cassette payload (approx. 9 ton). Positioning error at the furthest point of the cassette before any compensation was 80 mm. Therefore, extra compensation must be introduced in addition to a kinematic calibration. A kinematic calibration together with an extra compensation is a demanding task to carry out. The resulting complex compensation function has to be such that it can be implemented in real-time Cassette Multifunctional Mover (CMM) control system software. |
| Databáze: | OpenAIRE |
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