gantry-tau 5-dof reconfiguration experiments 13.09.09 measurements with faro tracker at tcp. the...

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ntry-Tau 5-DOF Reconfiguration Experiments 13.09.09 easurements with FARO tracker at TCP. The reflector eye is approxim 1mm from the centre of pin A. No offsets in X and Z.

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Page 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Measurements with FARO tracker at TCP. The reflector eye is approximately11mm from the centre of pin A. No offsets in X and Z.

Page 2: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Reconfiguration from “All Right” to “All Left”

Page 3: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 4: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 5: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 6: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 7: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 8: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 9: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 10: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 11: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 12: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

Page 13: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

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

Page 14: 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

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

Page 15: 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

Gantry-Tau 5-DOF Reconfiguration Experiments 13.09.09

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

Page 16: 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

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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