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Two Axis Fixture Calibration Utilizing Industrial Robot Artifact Object Touch Sensing

Abstract Details

2020, Master of Science in Electrical Engineering, University of Dayton, Electrical Engineering.
In this paper two axis fixture calibration utilizing industrial robot artifact object touch sensing is explored. The background for the topic of fixture calibration is provided as well as what was done in this paper. Through this paper, two axis fixture calibration utilizing industrial robot artifact object touch sensing is theorized with mathematics, modeled in simulation, further modeled in experimental modeling, tested in experimentation, and verified with a new procedure. Overall, the goal of automating the calibration process currently used in Yaskawa controllers was achieved. The new TB calibration method produces an equivalently accurate calibration to the Yaskawa calibration method, while removing human error with touch sensing. Additionally, a numeric verification method, the TCP verification method, is developed for quantifying the accuracy of the fixture calibration.
Temesgen Kebede, Ph.D. (Advisor)
Raul Ordonez, Ph.D. (Committee Member)
Ouboti Djaneye-Boundjou, Ph.D. (Committee Member)
106 p.

Recommended Citations

Citations

  • Benton, T. H. (2020). Two Axis Fixture Calibration Utilizing Industrial Robot Artifact Object Touch Sensing [Master's thesis, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1591268868419905

    APA Style (7th edition)

  • Benton, Thomas. Two Axis Fixture Calibration Utilizing Industrial Robot Artifact Object Touch Sensing. 2020. University of Dayton, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1591268868419905.

    MLA Style (8th edition)

  • Benton, Thomas. "Two Axis Fixture Calibration Utilizing Industrial Robot Artifact Object Touch Sensing." Master's thesis, University of Dayton, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1591268868419905

    Chicago Manual of Style (17th edition)