Sökning: "Gantry-Tau"

Visar resultat 1 - 5 av 11 uppsatser innehållade ordet Gantry-Tau.

  1. 1. Dual-Motor Control for Backlash Reduction in Parallel-Kinematic Robot Joints

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Mathias Artursson; [2019]
    Nyckelord :Technology and Engineering;

    Sammanfattning : 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. LÄS MER

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

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Patrik Lilja; Jorge Sola Merino; [2015]
    Nyckelord :Technology and Engineering;

    Sammanfattning : 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. LÄS MER

  4. 3. Dynamic path planning of initially unknown environments using an RGB-D camera

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Sara Gustafzelius; [2015]
    Nyckelord :Technology and Engineering;

    Sammanfattning : 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. LÄS MER

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

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Patrik Cairén; [2013]
    Nyckelord :Technology and Engineering;

    Sammanfattning : 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. LÄS MER

  7. 5. Stiffness Compensation and External Control of Gantry-Tau Robots

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Martin Holmstrand; Kristina Silverbåge; [2013]
    Nyckelord :Technology and Engineering;

    Sammanfattning : This master thesis describes how to compensate for the compliance of the Gantry-Tau robot. The main reason for this is to improve the performance of the robot. The compliance is modeled as nine springs, one for each cart and each link. LÄS MER