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

Tuomo Kivelä; Hannu Saarinen; J. Mattila; Vesa Hämäläinen; Mikko Siuko; L. Semeraro

doi:10.1016/j.fusengdes.2010.12.032

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

Tuomo Kivelä^*
, Hannu Saarinen
, J. Mattila
, Vesa Hämäläinen
, Mikko Siuko
, L. Semeraro

^*Corresponding author for this work

Fusion for Energy (F4E)
Tampere University of Technology (TUT)

Research output: Contribution to journal › Article › Scientific › peer-review

3 Citations (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 language	English
Pages (from-to)	2043-2046
Journal	Fusion Engineering and Design
Volume	86
Issue number	9-11
DOIs	https://doi.org/10.1016/j.fusengdes.2010.12.032
Publication status	Published - 2011
MoE publication type	A1 Journal article-refereed
Event	26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal Duration: 27 Sept 2010 → 1 Oct 2010 Conference number: 26

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy
SDG 9 Industry, Innovation, and Infrastructure

Keywords

Calibration
Cassette Multifunctional Mover
Divertor Test Platform 2
ITER

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10.1016/j.fusengdes.2010.12.032

Cite this

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title = "Calibration and compensation of deflections and compliances in remote handling equipment configurations",

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.",

keywords = "Calibration, Cassette Multifunctional Mover, Divertor Test Platform 2, ITER",

author = "Tuomo Kivel{\"a} and Hannu Saarinen and J. Mattila and Vesa H{\"a}m{\"a}l{\"a}inen and Mikko Siuko and L. Semeraro",

year = "2011",

doi = "10.1016/j.fusengdes.2010.12.032",

language = "English",

volume = "86",

pages = "2043--2046",

journal = "Fusion Engineering and Design",

issn = "0920-3796",

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number = "9-11",

note = "26th Symposium of Fusion Technology, SOFT-26, SOFT-26 ; Conference date: 27-09-2010 Through 01-10-2010",

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T1 - Calibration and compensation of deflections and compliances in remote handling equipment configurations

AU - Kivelä, Tuomo

AU - Saarinen, Hannu

AU - Mattila, J.

AU - Hämäläinen, Vesa

AU - Siuko, Mikko

AU - Semeraro, L.

N1 - Conference code: 26

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - Calibration

KW - Cassette Multifunctional Mover

KW - Divertor Test Platform 2

KW - ITER

U2 - 10.1016/j.fusengdes.2010.12.032

DO - 10.1016/j.fusengdes.2010.12.032

M3 - Article

SN - 0920-3796

VL - 86

SP - 2043

EP - 2046

JO - Fusion Engineering and Design

JF - Fusion Engineering and Design

IS - 9-11

T2 - 26th Symposium of Fusion Technology, SOFT-26

Y2 - 27 September 2010 through 1 October 2010

ER -

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

Abstract

UN SDGs

Keywords

Access to Document

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