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

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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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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 - Semeraro, L.

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KW - ITER

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