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dc.contributor.advisorWang, Ching-Cheng (Professor of industrial engineering)en_US
dc.contributor.authorShekhar, Amiten_US
dc.date.accessioned2016-02-19T21:12:34Z
dc.date.available2016-02-19T21:12:34Z
dc.date.issued1991
dc.identifier.urihttp://commons.lib.niu.edu/handle/10843/15646
dc.descriptionIncludes bibliographical references (pages [62]-63)en_US
dc.description.abstractRepeatability and accuracy of the robot operation are two distinct specifications of the robot capacity. Repeatability measures the precision with which the manipulator revisits a taught point, while the accuracy discloses how closely the manipulator visits a computed point. The accuracy of a taught point is limited by the resolution of the operator’s eyes. On the other hand, the accuracy of the computed point is limited by nothing other than the computer rounding errors. The computed point defines the desired position via forward and backward kinematics of the rigid manipulator. Unfortunately, no manipulator is rigid. Static deformation exists. As a result, the computed point deviates from the position where the manipulator actually visits. To remedy this problem, compensation methods have been explored. They require the link deformation to be identified on-line. No such method exists to date. This thesis explores a novel method which acquires link deflection and angular bending on-line. To facilitate the acquisition method, laser light source, partial-pass reflectors and sensor arrays are aligned on the link. Positions where the laser beams project on the sensor arrays are measured to calculate the link deformations. The sensitivity analysis is also performed. In addition, computation examples illustrate the on-line acquisition method. The feasibility of its adoption using today’s equipment is addressed.en_US
dc.format.extentvi, 80 pagesen_US
dc.language.isoengen_US
dc.publisherNorthern Illinois Universityen_US
dc.rightsNIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.en_US
dc.subject.lcshRobots--Programmingen_US
dc.subject.lcshRobots--Error detection and recoveryen_US
dc.titleOn-line acquisition of link deformations for the robot of accuracyen_US
dc.type.genreDissertation/Thesisen_US
dc.typeTexten_US
dc.contributor.departmentDepartment of Industrial Engineeringen_US
dc.description.degreeM.S. (Master of Science)en_US


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