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Title: A quick telemanipulator calibration and repeatability method with applications

Abstract

This paper will present a methodology that was used to calibrate and measure the repeatability of two telemanipulators at Oak Ridge National Laboratory. The global accuracy of the method was 0.05 in. ({approx_equal} 1.3 mm), and the orientation accuracy was approximately 6 min ({approx_equal} 0.002 rads). For most teleoperator systems, these accuracies are more than adequate because of the construction of the mechanism and sensor capabilities (e.g., typically 12 bits of resolution). Although industrial robots require accuracies of about 0.05 mm or better, telemanipulators do not.

Authors:
;  [1]
  1. Oak Ridge National Lab., TN (United States). Robotics & Process Systems Div.
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
10182337
Report Number(s):
CONF-940550-14
ON: DE94018710; TRN: AHC29421%%106
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics,San Diego, CA (United States),8-13 May 1994; Other Information: PBD: [1994]
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; MANIPULATORS; CALIBRATION; ACCURACY; ROBOTS; CONTROL SYSTEMS; 420203; HANDLING EQUIPMENT AND PROCEDURES

Citation Formats

Jansen, J F, and Haley, D C. A quick telemanipulator calibration and repeatability method with applications. United States: N. p., 1994. Web.
Jansen, J F, & Haley, D C. A quick telemanipulator calibration and repeatability method with applications. United States.
Jansen, J F, and Haley, D C. 1994. "A quick telemanipulator calibration and repeatability method with applications". United States. https://www.osti.gov/servlets/purl/10182337.
@article{osti_10182337,
title = {A quick telemanipulator calibration and repeatability method with applications},
author = {Jansen, J F and Haley, D C},
abstractNote = {This paper will present a methodology that was used to calibrate and measure the repeatability of two telemanipulators at Oak Ridge National Laboratory. The global accuracy of the method was 0.05 in. ({approx_equal} 1.3 mm), and the orientation accuracy was approximately 6 min ({approx_equal} 0.002 rads). For most teleoperator systems, these accuracies are more than adequate because of the construction of the mechanism and sensor capabilities (e.g., typically 12 bits of resolution). Although industrial robots require accuracies of about 0.05 mm or better, telemanipulators do not.},
doi = {},
url = {https://www.osti.gov/biblio/10182337}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Sep 01 00:00:00 EDT 1994},
month = {Thu Sep 01 00:00:00 EDT 1994}
}

Conference:
Other availability
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