Title:
End-Point Position Measurement of Long-Reach Flexible Manipulators
End-Point Position Measurement of Long-Reach Flexible Manipulators
| dc.contributor.author | Obergfell, Klaus | |
| dc.contributor.author | Book, Wayne J. | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.date.accessioned | 2011-06-16T17:55:29Z | |
| dc.date.available | 2011-06-16T17:55:29Z | |
| dc.date.issued | 1994-09 | |
| dc.description.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. | en_US |
| dc.identifier.citation | Obergfell, K., and W.J. Book, "End-Point Position Measurement of Long-Reach Flexible Manipulators," IFAC Symposium on Robot Control '94, Capri, Italy, September 19-21, 1994. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/39163 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | International Federation of Automatic Control | |
| dc.subject | Flexible manipulators | en_US |
| dc.subject | Deflection measurement | en_US |
| dc.subject | Sensing | en_US |
| dc.subject | End-point position | en_US |
| dc.title | End-Point Position Measurement of Long-Reach Flexible Manipulators | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Book, Wayne J. | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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