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Position Accuracy with Dual Motor Control for a Gantry-Tau Robot

Cairén, Patrik (2013) In ISSN 0280-5316
Department 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:
author
Cairén, Patrik
supervisor
organization
year
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},
}