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Direct training of robots using a positional deviation sensor

Dessen, Fredrik
Doctoral thesis
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URI
http://hdl.handle.net/11250/2388225
Date
1988
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  • Institutt for teknisk kybernetikk [2833]
Abstract
A device and system for physically guiding a manipulator

through its task is described. The device consists of inductive,

contact-free positional deviation sensors, enabling the rcbot to

track a motion marker. Factors limiting the tracking performance

are the kinematics of the sensor device and the bartdwidth of the

servo system. Means for improving it includes the use of optimal

motion coordination and force and velocity feedback. This enables

real-time manual training of high-performance manipUlators. Multidimensional,

non-linear measurement equations for the sensor system

are developed, and their inversion described.
Publisher
NTNU
Series
Doktor ingeniøravhandling;1988:33

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