Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace

It is easy to realize that most robots do not move to the desired endpoint (Tool Center Point (TCP)) using high-resolution noncontact instrumentation because of manufacturing and assembly errors, transmission system errors, and mechanical wear. This paper presents a robot calibration solution by changing the endpoint trajectories while maintaining the robot’s control system and device usages. Two independent systems to measure the endpoint positions, the robot encoder and a noncontact measuring system with a high-resolution camera, are used to determine the endpoint errors. A new trajectory based on the measured errors will be built to replace the original trajectory. The results show that the proposed method can significantly reduce errors; moreover, this is a low-cost solution and easy to apply in practice and calibration can be done cyclically. The only requirement for this method is a noncontact measuring device with high-resolution and located independently with the robot in calibration.

Unmanned Stratospheric Glider for Satellite Calibration

<div> <div> <div> <div> <p>Stratodynamics Aviation Inc. is an Earth Observation platform and service provider that’s pioneered a new cost-effective method of remote access the stratosphere. The platform called the HiDRON has successfully deployed scientific instruments over 100,000 feet above the earth and back again using balloon launched, autonomous technology.</p> <div> <div> <div> <div> <p>Most satellites are able to self-calibrate however, optical and spectral units that are required to interpret data through the boundary layer face difficult challenges. We’ve identified opportunities to calibrate instruments by flying proxy beam/pulse emitters at stratospheric altitudes. As well, we see meaningful advantages to an Aircore integrated system that can capture high altitude air samples as a validation exercise. This method serves to extend the mission life of satellites beyond their intended length. Specifically, the RADARSAT constellation, the COPERNICUS program, AEOLUS as well as future Greenhouse Gas sensing satellites.</p> <p>We would like to propose this technology to the EGU General Assembly 2020 for consideration as a calibration solution.</p> </div> </div> </div> </div> </div> </div> </div> </div>