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

    2 Citations (Scopus)


    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
    Issue number9-11
    Publication statusPublished - 2011
    MoE publication typeA1 Journal article-refereed
    Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
    Duration: 27 Sept 20101 Oct 2010
    Conference number: 26


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


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