کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
9638287 505049 2005 4 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
ITER Articulated Inspection Arm (AIA): Geometric calibration issues of a long-reach flexible robot
موضوعات مرتبط
مهندسی و علوم پایه مهندسی انرژی مهندسی انرژی و فناوری های برق
پیش نمایش صفحه اول مقاله
ITER Articulated Inspection Arm (AIA): Geometric calibration issues of a long-reach flexible robot
چکیده انگلیسی
The geometric calibration is performed using a non-linear multivariable optimisation technique, which minimizes the average error between the simulated and real robot position. The optimised set of parameters, tested on the first segment of the robot, enables to divide by 3 the error on the end-effector position, in comparison to a rigid model. We expect better prediction after mechanical improvements to reduce the serious backlash in the joints. The prediction model applied to the whole arm will enable errors to be reduced from more than 1 m, in some configurations, to a final accuracy of a few centimetres.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Fusion Engineering and Design - Volumes 75–79, November 2005, Pages 543-546
نویسندگان
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