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Stiffness Compensation and External Control of Gantry-Tau Robots

Holmstrand, Martin and Silverbåge, Kristina (2013) In ISSN 0280-5316
Department of Automatic Control
Abstract
This master thesis describes how to compensate for the compliance of the Gantry-Tau robot. The main reason for this is to improve the performance of the robot. The compliance is modeled as nine springs, one for each cart and each link. The model seems promising but has only been tested in homing position of the robot but shows a positive result in decreasing the compliance. External control of the CNC software ISG and its drivers for a Gantry-Tau robot F1 is also investigated. A way to add external measurement equipment and adding external position references was implemented.
Please use this url to cite or link to this publication:
author
Holmstrand, Martin and Silverbåge, Kristina
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
ISSN 0280-5316
other publication id
ISRN LUTFD2/TFRT--5911--SE
language
English
additional info
month=January
id
3433878
date added to LUP
2013-02-01 11:59:35
date last changed
2013-02-01 11:59:35
@misc{3433878,
  abstract     = {This master thesis describes how to compensate for the compliance of the Gantry-Tau robot. The main reason for this is to improve the performance of the robot. The compliance is modeled as nine springs, one for each cart and each link. The model seems promising but has only been tested in homing position of the robot but shows a positive result in decreasing the compliance. External control of the CNC software ISG and its drivers for a Gantry-Tau robot F1 is also investigated. A way to add external measurement equipment and adding external position references was implemented.},
  author       = {Holmstrand, Martin and Silverbåge, Kristina},
  language     = {eng},
  note         = {Student Paper},
  series       = {ISSN 0280-5316},
  title        = {Stiffness Compensation and External Control of Gantry-Tau Robots},
  year         = {2013},
}