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Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09 Measurements with FARO tracker at TCP. The reflector eye is approximately 11mm from the centre of.

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Presentation on theme: "Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09 Measurements with FARO tracker at TCP. The reflector eye is approximately 11mm from the centre of."— Presentation transcript:

1 Gantry-Tau 5-DOF Reconfiguration Experiments Measurements with FARO tracker at TCP. The reflector eye is approximately 11mm from the centre of pin A. No offsets in X and Z.

2 Gantry-Tau 5-DOF Reconfiguration Experiments Reconfiguration from “All Right” to “All Left”

3 Gantry-Tau 5-DOF Reconfiguration Experiments

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13 Actuator measurements (see file Q0_1.mat)

14 Gantry-Tau 5-DOF Reconfiguration Experiments X,Y,Z measurements from tracker. Matt: I forgot to “home” the robot exactly, so you need to calculate the starting position of actuators 1,2,3 from the I.K. The telescopes are initialised OK, ie. 1.09m, 1.25m, 1.25m

15 Gantry-Tau 5-DOF Reconfiguration Experiments Actuator measurements (see file Q0_1.mat)

16 Gantry-Tau 5-DOF Reconfiguration Experiments X,Y,Z measurements from tracker. Matt: I forgot to “home” the robot exactly, so you need to calculate the starting position of actuators 1,2,3 from the I.K. The telescopes are initialised OK, ie. 1.09m, 1.25m, 1.25m


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