End-Point Position Measurement of Long-Reach Flexible Manipulators
Book, Wayne John
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This paper describes the design, testing and evaluation of a position measurement system for a large flexible manipulator. Previous work is reviewed and updated with a discussion of related sensors and their applicability. Two approaches to accurately measure end-point position over a large workspace are outlined. The chosen approach estimates the tip position from joint angle and link deflection sensors. The equipment used (e.g. sensors, illumination, focusing optics, etc.) and the calibration procedure are presented. Two evaluations of the system are discussed First static link deflection measurements are compared to results of a static deflection model. Second the combined tip position estimate is compared to an absolute measurement taken with a dial indicator. The paper finishes with a description of expected applications for manipulator control.