Calibration of Gantry-Tau Robot and Prototyping of Extruder for 3D Printing

Abstract: 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. Furthermore, a prototype for a large plastic printer head is presented.