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 | |
| 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 |
Keywords
- Calibration
- Cassette Multifunctional Mover
- Divertor Test Platform 2
- ITER
