Position Accuracy with Dual Motor Control for a Gantry-Tau Robot
(2013) In ISSN 0280-5316Department of Automatic Control
- Abstract
- Very high accuracy and a very high repeatability, both in the range of a few microns, is very hard to achieve with today's common serial robots. An approach utilizing the Gantry-Tau principle is used in my theses together with a dual motor control to eliminate the troublesome backlash rising from the mechanical limitations. Both hardware and software will be regarded and with an antagonistic control structure I will show that the accuracy of a few micron really can be achieved. To evaluate the regulators parameter and test the control strategies a command prompt was made for the serial communication and a graphical interface was also made for the Ethernet communication.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/3635649
- author
- Cairén, Patrik
- supervisor
- organization
- year
- 2013
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- ISSN 0280-5316
- other publication id
- ISRN LUTFD2/TFRT--5913--SE
- language
- English
- additional info
- "month=March"
- id
- 3635649
- date added to LUP
- 2013-04-24 11:01:23
- date last changed
- 2013-04-24 11:01:23
@misc{3635649, abstract = {{Very high accuracy and a very high repeatability, both in the range of a few microns, is very hard to achieve with today's common serial robots. An approach utilizing the Gantry-Tau principle is used in my theses together with a dual motor control to eliminate the troublesome backlash rising from the mechanical limitations. Both hardware and software will be regarded and with an antagonistic control structure I will show that the accuracy of a few micron really can be achieved. To evaluate the regulators parameter and test the control strategies a command prompt was made for the serial communication and a graphical interface was also made for the Ethernet communication.}}, author = {{Cairén, Patrik}}, language = {{eng}}, note = {{Student Paper}}, series = {{ISSN 0280-5316}}, title = {{Position Accuracy with Dual Motor Control for a Gantry-Tau Robot}}, year = {{2013}}, }