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Serial Robotic Arm Joint Characterization Measurements for Antenna Metrology

Published

Author(s)

Michael S. Allman, David R. Novotny, Joshua A. Gordon, Alexandra Curtin, Scott Sandwith

Abstract

We developed an accurate kinematic model of our six-axis serial robotic arm used for antenna characterization measurements. The model was calibrated over a 0.4 m3 working cell. We validated the calibration using a 1 m2 plane embedded within the calibration cell. The positioning errors for the calibrated case showed a fourfold improvement in accuracy as compared to the uncalibrated case. For a maximum positioning error tolerance of λ/50, the calibrated model should allow for open-loop antenna characterization measurements out to 35 GHz.
Proceedings Title
Proceedings of the Antenna Measurement Techniques Association
Conference Dates
October 15-20, 2017
Conference Location
Atlanta, GA

Keywords

Antennas, near-field measurements, positioning, gain, pattern

Citation

Allman, M. , Novotny, D. , Gordon, J. , Curtin, A. and Sandwith, S. (2017), Serial Robotic Arm Joint Characterization Measurements for Antenna Metrology, Proceedings of the Antenna Measurement Techniques Association, Atlanta, GA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=923895 (Accessed February 26, 2024)
Created October 15, 2017, Updated March 22, 2019