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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 13.09.09 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 13.09.09 Reconfiguration from “All Right” to “All Left”

3 Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

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13 Actuator measurements 000-111 (see file Q0_1.mat)

14 Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09 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 13.09.09 Actuator measurements 111-000 (see file Q0_1.mat)

16 Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09 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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