Characterization of the Tau Parallel Kinematic Machine for Aerospace Application

Crothers, Phillip; Freeman, Philip; Dressler, Isolde; Nilsson, Klas; Robertsson, Anders; Zulauf, W.; Felber, B.; Loser, Raimund; Siercks, K.; Brogårdh, Torgny

doi:10.4271/2009-01-3222

Cited by 6 publications

(4 citation statements)

References 6 publications

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“…Recent measurements on the full size prototype show that the robot's repeatability is considerably better. In [7], the omni-directional repeatability of the TCP was shown to be 13 µm in the mean with a maximum of 50 µm.…”

Section: Introductionmentioning

confidence: 97%

A kinematic error model for a parallel Gantry-Tau manipulator

Dressler

Brogårdh²,

Robertsson

2010

2010 IEEE International Conference on Robotics and Automation

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A Kinematic Error Model for a Parallel Gantry-Tau ManipulatorDressler, Isolde; Brogårdh, Torgny; Robertsson, Anders General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.• You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal Take down policy If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. A Kinematic Error Model for a Parallel Gantry-Tau ManipulatorIsolde Dressler, Torgny Brogårdh and Anders Robertsson Abstract-Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.

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Section: Introductionmentioning

confidence: 97%

A kinematic error model for a parallel Gantry-Tau manipulator

Dressler

Brogårdh²,

Robertsson

2010

2010 IEEE International Conference on Robotics and Automation

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“…1, has a large workspace compared to other parallel kinematic robots, and is stiff compared to serial robots. Other advantages are possibilities of accurate machining of large components, see Crothers et al [2009], or of modular construction for manufacturing small lot sizes.…”

Section: Introductionmentioning

confidence: 99%

Observer-based ILC Applied to the Gantry-Tau Parallel Kinematic Robot

Wallén

Dressler

Robertsson

et al. 2011

IFAC Proceedings Volumes

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“…The Gantry-Tau configuration [19], shown in Figure 1 and Figure 5, has a large workspace compared to other parallel robots, while being stiff compared to serial robots. Other advantages are possibilities of machining large components with high accuracy [9], and a modular construction for manufacturing of small lot sizes [11].…”

Section: Introductionmentioning

confidence: 99%

Estimation-based ILC applied to a parallel kinematic robot

Axehill¹,

Dressler²,

Gunnarsson³

et al. 2014

Control Engineering Practice

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Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the GantryTau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter.

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Characterization of the Tau Parallel Kinematic Machine for Aerospace Application

Cited by 6 publications

References 6 publications

A kinematic error model for a parallel Gantry-Tau manipulator

A kinematic error model for a parallel Gantry-Tau manipulator

Observer-based ILC Applied to the Gantry-Tau Parallel Kinematic Robot

Estimation-based ILC applied to a parallel kinematic robot

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