A Kinematic Error Model for a Parallel Gantry-Tau Manipulator
(2010) International Conference on Robotics and Automation (ICRA2010) p.3709-3714- Abstract
- Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1627717
- author
- Dressler, Isolde LU ; Brogårdh, Torgny and Robertsson, Anders LU
- organization
- publishing date
- 2010
- type
- Contribution to conference
- publication status
- published
- subject
- pages
- 3709 - 3714
- conference name
- International Conference on Robotics and Automation (ICRA2010)
- conference location
- Anchorage, Alaska, United States
- conference dates
- 2010-05-03
- external identifiers
-
- wos:000284150002095
- scopus:77955801576
- language
- English
- LU publication?
- yes
- id
- 87f928da-16f2-41ea-8fdb-43a945d49220 (old id 1627717)
- date added to LUP
- 2016-04-04 13:36:39
- date last changed
- 2024-02-29 03:24:29
@misc{87f928da-16f2-41ea-8fdb-43a945d49220, abstract = {{Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.}}, author = {{Dressler, Isolde and Brogårdh, Torgny and Robertsson, Anders}}, language = {{eng}}, pages = {{3709--3714}}, title = {{A Kinematic Error Model for a Parallel Gantry-Tau Manipulator}}, url = {{https://lup.lub.lu.se/search/files/6162435/8168897.pdf}}, year = {{2010}}, }