Stiffness Compensation and External Control of Gantry-Tau Robots

Abstract

This master thesis describes how to compensate for the compliance of the Gantry-Tau robot. The main reason for this is to improve the performance of the robot. The compliance is modeled as nine springs, one for each cart and each link. The model seems promising but has only been tested in homing position of the robot but shows a positive result in decreasing the compliance. External control of the CNC software ISG and its drivers for a Gantry-Tau robot F1 is also investigated. A way to add external measurement equipment and adding external position references was implemented.