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Max IV High Precision Self-Positioning Robot

Andersson, Alina LU and Shahin, Abdulla (2022) International Workshops on Accelerator Alignment (IWAA) 2022, CERN
Abstract
A high-precision robot has been built for Max IV Laboratory in Lund, Sweden. The robot assists with marking 2D projections from computer-aided design (CAD) models onto floors. The second important function of the robot is floor scanning, which aids in a three-dimensional model correction during construction, production, and installation processes at large facilities. The robot provides accurate positioning down to 60 micrometers for optimal installation of synchrotron equipment. The robot can communicate with external positioning systems and advanced measuring devices such as Lighthouse [1] and a laser tracker to pinpoint its position in a large facility. The goal of this publication is to investigate and present the results of combining... (More)
A high-precision robot has been built for Max IV Laboratory in Lund, Sweden. The robot assists with marking 2D projections from computer-aided design (CAD) models onto floors. The second important function of the robot is floor scanning, which aids in a three-dimensional model correction during construction, production, and installation processes at large facilities. The robot provides accurate positioning down to 60 micrometers for optimal installation of synchrotron equipment. The robot can communicate with external positioning systems and advanced measuring devices such as Lighthouse [1] and a laser tracker to pinpoint its position in a large facility. The goal of this publication is to investigate and present the results of combining suboptimal hardware with intelligent software design, which includes a nonlinear filtering algorithm. The robot’s precision improved more than 10-fold after the filtering algorithm implementation (Less)
Please use this url to cite or link to this publication:
author
and
organization
publishing date
type
Contribution to conference
publication status
published
subject
pages
5 pages
conference name
International Workshops on Accelerator Alignment (IWAA) 2022, CERN
conference location
01210 Ferney-Voltaire, France
conference dates
2022-10-31 - 2022-11-04
language
English
LU publication?
yes
id
dca94a5c-f9dc-4823-b0d3-46e0f97a13ec
date added to LUP
2023-01-23 13:29:00
date last changed
2023-01-23 14:50:26
@misc{dca94a5c-f9dc-4823-b0d3-46e0f97a13ec,
  abstract     = {{A high-precision robot has been built for Max IV Laboratory in Lund, Sweden. The robot assists with marking 2D projections from computer-aided design (CAD) models onto floors. The second important function of the robot is floor scanning, which aids in a three-dimensional model correction during construction, production, and installation processes at large facilities. The robot provides accurate positioning down to 60 micrometers for optimal installation of synchrotron equipment. The robot can communicate with external positioning systems and advanced measuring devices such as Lighthouse [1] and a laser tracker to pinpoint its position in a large facility. The goal of this publication is to investigate and present the results of combining suboptimal hardware with intelligent software design, which includes a nonlinear filtering algorithm. The robot’s precision improved more than 10-fold after the filtering algorithm implementation}},
  author       = {{Andersson, Alina and Shahin, Abdulla}},
  language     = {{eng}},
  title        = {{Max IV High Precision Self-Positioning Robot}},
  url          = {{https://lup.lub.lu.se/search/files/135588194/MaxIV_Andersson.pdf}},
  year         = {{2022}},
}