A quick telemanipulator calibration and repeatability method with applications

Conference · Thu Sep 01 00:00:00 EDT 1994

OSTI ID:10182337

Jansen, J F; Haley, D C ^[1]

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1. Oak Ridge National Lab., TN (United States). Robotics & Process Systems Div.

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.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 10182337
• Report Number(s): CONF-940550-14; ON: DE94018710; TRN: AHC29421%%106
• 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

Related Subjects

42 ENGINEERING
MANIPULATORS
CALIBRATION
ACCURACY
ROBOTS
CONTROL SYSTEMS
420203
HANDLING EQUIPMENT AND PROCEDURES