Calibration and compensation of deflections and compliances in remote handling equipment configurations

T. Kivelä (Corresponding Author), Hannu Saarinen, J. Mattila, Vesa Hämäläinen, Mikko Siuko, L. Semeraro

    Research output: Contribution to journalArticleScientificpeer-review

    1 Citation (Scopus)

    Abstract

    This paper presents a generic method of calibrating and compensating remote handling system configurations subject to manufacturing and assembly tolerances, deflections and compliances. A method consists of kinematic part and non-kinematic part. A kinematic calibration algorithm is presented for finding the values of kinematic model errors by measuring the end-effector Cartesian position. This is a conventional way to calibrate industrial robots. However, in this case the kinematic calibration is not able to compensate flaws fully due to large deflections and compliances caused by a massive Cassette payload (approx. 9 ton). Positioning error at the furthest point of the cassette before any compensation was 80 mm. Therefore, extra compensation must be introduced in addition to a kinematic calibration. A kinematic calibration together with an extra compensation is a demanding task to carry out. The resulting complex compensation function has to be such that it can be implemented in real-time Cassette Multifunctional Mover (CMM) control system software.
    Original languageEnglish
    Pages (from-to)2043-2046
    Number of pages4
    JournalFusion Engineering and Design
    Volume86
    Issue number9-11
    DOIs
    Publication statusPublished - 2011
    MoE publication typeA1 Journal article-refereed
    Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
    Duration: 27 Sep 20101 Oct 2010
    Conference number: 26

    Fingerprint

    Kinematics
    Calibration
    Industrial robots
    End effectors
    Compensation and Redress
    Compliance
    Control systems
    Defects

    Keywords

    • Calibration
    • Cassette Multifunctional Mover
    • Divertor Test Platform 2
    • ITER

    Cite this

    Kivelä, T. ; Saarinen, Hannu ; Mattila, J. ; Hämäläinen, Vesa ; Siuko, Mikko ; Semeraro, L. / Calibration and compensation of deflections and compliances in remote handling equipment configurations. In: Fusion Engineering and Design. 2011 ; Vol. 86, No. 9-11. pp. 2043-2046.
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    abstract = "This paper presents a generic method of calibrating and compensating remote handling system configurations subject to manufacturing and assembly tolerances, deflections and compliances. A method consists of kinematic part and non-kinematic part. A kinematic calibration algorithm is presented for finding the values of kinematic model errors by measuring the end-effector Cartesian position. This is a conventional way to calibrate industrial robots. However, in this case the kinematic calibration is not able to compensate flaws fully due to large deflections and compliances caused by a massive Cassette payload (approx. 9 ton). Positioning error at the furthest point of the cassette before any compensation was 80 mm. Therefore, extra compensation must be introduced in addition to a kinematic calibration. A kinematic calibration together with an extra compensation is a demanding task to carry out. The resulting complex compensation function has to be such that it can be implemented in real-time Cassette Multifunctional Mover (CMM) control system software.",
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    Calibration and compensation of deflections and compliances in remote handling equipment configurations. / Kivelä, T. (Corresponding Author); Saarinen, Hannu; Mattila, J.; Hämäläinen, Vesa; Siuko, Mikko; Semeraro, L.

    In: Fusion Engineering and Design, Vol. 86, No. 9-11, 2011, p. 2043-2046.

    Research output: Contribution to journalArticleScientificpeer-review

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    AU - Kivelä, T.

    AU - Saarinen, Hannu

    AU - Mattila, J.

    AU - Hämäläinen, Vesa

    AU - Siuko, Mikko

    AU - Semeraro, L.

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    KW - Divertor Test Platform 2

    KW - ITER

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