Essays about: "gantry tau"
Showing result 1 - 5 of 13 essays containing the words gantry tau.
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1. Dual-Motor Control for Backlash Reduction in Parallel-Kinematic Robot Joints
University essay from Lunds universitet/Institutionen för reglerteknikAbstract : A new high-performance robot called the Gantry-Tau robot was developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG. This robot seemed promising in terms of speed, accuracy, stiffness and bandwidth of the motion control. READ MORE
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2. A New Controller for the Acquisition and Guiding Unit for the Gemini South Telescope : New architecture and control schemes to use Power PMAC
University essay from KTH/Optimeringslära och systemteoriAbstract : When the Gemini Telescopes were built 20 years ago, the control architecture for the high precision requirements was the same for all systems. It consisted of VME cards, Programmable Multi Axis Con-trollers (PMAC) with specific amplifiers and a central computer. It was the state of the art. READ MORE
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3. Calibration of Gantry-Tau Robot and Prototyping of Extruder for 3D Printing
University essay from Lunds universitet/Institutionen för reglerteknikAbstract : This master thesis is about improving the accuracy of a Gantry-Tau robot by identifying the key parameters in the kinematics of the robot. This is done using a vision system and then estimating the parameters by minimizing the closure equation of the kinematics. The robot with improved control is then used for additive manufacturing. READ MORE
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4. Dynamic path planning of initially unknown environments using an RGB-D camera
University essay from Lunds universitet/Institutionen för reglerteknikAbstract : In this thesis an RGB-D camera was used with the goal to perform dynamic path planning in an initially unknown environment. Depth data from an RGB-D camera together with a discretizising algorithm is continuously used for maintaining an obstacle map of the environment which within the path planning algorithm D* Lite [S. READ MORE
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5. Position Accuracy with Dual Motor Control for a Gantry-Tau Robot
University essay from Lunds universitet/Institutionen för reglerteknikAbstract : 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. READ MORE
