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Analysis of a robot arm with exoskeleton for coordinate Measurement in complex environments.
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Thornby, John Albert, Sanders, R. and Hyde-Moxon, R. (2009) Analysis of a robot arm with exoskeleton for coordinate Measurement in complex environments. In: European Conference on Complex Systems, University of Warwick, 21-25 Sept 2009
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RCA_ECCS_Poster.ppt - Published Version Download (1725Kb) |
Abstract
In partnership with Metris UK we present the modelling and development of a revolutionary Robot Coordinate-measuring Arm (RCA). The RCA combines the automation capability of traditional Coordinate Measurement Machine (CMM) methods with the mobility and part accessibility of an articulated arm, resulting in a versatile and powerful tool for coordinate measuring applications with a target accuracy of sub-100µm.
The RCA exploits novel, patented technology to accelerate repetitive 3D inspection jobs. A highly accurate 7-axis articulated arm is housed within a robotized exoskeleton driven by electromotors. We utilise Denavit-Hartenberg parameters to model the robot links and investigate the accessible configurations of the exoskeleton under the effects of arbitrary offsets and twists. We further examine the configuration space of a 2-axis version of the system, its singular points and the singularities of the mapping to the space of controls.
We demonstrate the compliance of the RCA to accepted engineering standards and discuss improvements in the calibration and error-correction of the unit, which have reduced residuals by a factor of two. We identify singular poses as a large cause of uncertainty and propose solutions to circumvent them.
This work is supported by the UK Technology Strategy Board under the EPSRC-managed scheme “Gathering Data in Complex Environments”.
Item Type: | Conference Item (Poster) | ||||
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Subjects: | Q Science > QA Mathematics T Technology > TA Engineering (General). Civil engineering (General) |
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Divisions: | Faculty of Science, Engineering and Medicine > Science > Mathematics Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) |
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Official Date: | September 2009 | ||||
Dates: |
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Status: | Not Peer Reviewed | ||||
Publication Status: | Published | ||||
Access rights to Published version: | Restricted or Subscription Access | ||||
Date of first compliant deposit: | 1 August 2016 | ||||
Date of first compliant Open Access: | 1 August 2016 | ||||
Conference Paper Type: | Poster | ||||
Title of Event: | European Conference on Complex Systems | ||||
Type of Event: | Conference | ||||
Location of Event: | University of Warwick | ||||
Date(s) of Event: | 21-25 Sept 2009 | ||||
Related URLs: |
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