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MSc. by V. Venkanagoud Patil: High precision Robotic Manipulator for Bluelining at MAX IV

Seminarium

From: 2022-06-15 13:15 to 14:00
Place: Seminar Room KC 3N27 and Zoom: https://lu-se.zoom.us/j/3153885839
Contact: tore [dot] hagglund [at] control [dot] lth [dot] se
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Vinay Venkanagoud Patil is presenting his Master's Thesis at the Dept. of Automatic Control.

When: Wednesday 15 June, 13.15-14.00
Where: Seminar Room KC 3N27 and Zoom: https://lu-se.zoom.us/j/3153885839
Author: Vinay Venkanagoud Patil
Title: High precision Robotic Manipulator for Bluelining at MAX IV
Advisors: Anders Robertsson, Dept. of Automatic Control, Gunnar Lindstedt, IEA, Alina Andersson Max IV
Examiner: Tore Hägglund, Dept. of Automatic Control



Abstract: 
MAX IV is a synchrotron facility currently running 14 beamlines hosting about 1000 users per year. It is one of the best of its kind and is at the forefront of synchrotron science. To have a beamline or a synchrotron functional, every  equipment used needs to be placed in the workspace with high precision. In the current setup, this is supported by blue lining, a technique to transfer the points from the 3D CAD diagram to the real space. This is done by marking points on the floor at places where the equipment needs to be placed. The position measurement is provided by a Leica Laser Tracker. The precision expected in a Blue lining task is about 60 microns. The manual process of marking these points is a tedious and time-consuming task for the measurement team. Automating this task would ease the work for the measurement team and free up time and resources for them. Not to mention the reduced back pain.

Large-scale infrastructures, such as the MAX IV Laboratory, rely on technology that must conduct extremely accurate operations. The position of the components in space has a significant impact on their performance. The purpose of this Master’s thesis is to create a sophisticated robot that will increase the precision of equipment positioning well beyond what is now possible. MAX IV, as well as its colleagues and consumers from academia and business, will profit tremendously from the project’s outcomes. In addition, the robot can be employed in other similar locations and has the potential to be used in industrial settings.