Title:
End-Point Position Measurement of Long-Reach Flexible Manipulators
End-Point Position Measurement of Long-Reach Flexible Manipulators
Author(s)
Obergfell, Klaus
Book, Wayne J.
Book, Wayne J.
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Abstract
This paper describes the design, testing and evaluation of a position measurement
system for a large flexible manipulator. Previous work is reviewed and updated with a
discussion of related sensors and their applicability. Two approaches to accurately measure
end-point position over a large workspace are outlined. The chosen approach estimates the tip
position from joint angle and link deflection sensors. The equipment used (e.g. sensors,
illumination, focusing optics, etc.) and the calibration procedure are presented. Two
evaluations of the system are discussed First static link deflection measurements are compared
to results of a static deflection model. Second the combined tip position estimate is compared
to an absolute measurement taken with a dial indicator. The paper finishes with a description
of expected applications for manipulator control.
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Date Issued
1994-09
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Text
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Proceedings