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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 pin A. No offsets in X and Z.

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Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09 Reconfiguration from “All Right” to “All Left”

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Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

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

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

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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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