| Author | Pathak, Kaustubh |
| Call Number | AIT Thesis no. ISE-01-04 |
| Subject(s) | Robots--Control systems
|
| Note | A thesis submitted in pa1iial fulfillment of the requirements for the degree of Master of
Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-01-04 |
| Abstract | Tool calibration is the identification of a more accurate transform between the tool frame
and the tool-mount frame of a robot. This transform is generally in the form of a set of offsets.
The objective of this thesis is to develop and implement a method of tool calibration which
makes use of a force/torque sensor located on the robot near the tool-mount.
The tool has been modeled by a cylinder with a spherical tip. The force sensor values are
first used to detect the orientation of a precision rectangular slot. Thereafter, the force sensor
is used only as a touch probe to detect contact between the tool and the slot. The tool is first
positioned within the slot. The offset from the initial position to contact is recorded for the
three principal axes of the slot. The robot is now made to rotate about an assumed tool-centre,
and the change in the contact offsets is used to improve the assumed tool-centre coordinates
given in the tool-mount frame.
The robot used in testing was provided by URS Universal Robot Systems GmbH & Co.
KG, Parchim, Germany. This is a parallel kinematic (Stewart Platform based) robot which has
a built-in force/torque sensor. The limitations of the apparatus and the reliability of the
measurements have been discussed. Finally the results of the calibration procedure and the
accuracy achievable are presented. |
| Year | 2001 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-01-04 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Nitin V. Afzulpurkar; |
| Examination Committee(s) | Manukid Parnichkun ;Huynh Ngoc Phien |
| Scholarship Donor(s) | Siemens AG. ; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2001 |