Title :
Error analysis and experimental tests of CATRASYS (Cassino Tracking System)
Author :
Ceccarelli, M. ; Carrasco, C. Avila ; Ottaviano, E.
Author_Institution :
DiMSAT-Lab. of Robotics & Mechatronics, Univ. of Cassino, Italy
Abstract :
CATRASYS (Cassino Tracking System) is a low-cost, easyily operated system for monitoring large displacements together with rotation angles of a suitable end-effector, which can be easily attached to any mechanical system. In this paper we present basic performance of CATRASYS by using an analysis for error evaluation and showing experimental tests that have been carried out at the Laboratory of Robotics and Mechatronics in Cassino with available robots
Keywords :
displacement measurement; error analysis; industrial manipulators; position control; tracking; CATRASYS; Cassino Tracking System; Laboratory of Robotics and Mechatronics in Cassino; PUMA robot; Scorbot ERV; end-effector; error analysis; error evaluation; mechanical system; multi-body systems; orientation tracking; performance; position tracking; robots; Error analysis; Instruments; Laboratories; Mechanical systems; Position measurement; Prototypes; Robots; System testing; Transducers; Wire;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972368
