Novel six-axis robot kinematic model with axis-to-axis crosstalk

Ibaraki S.

Fukuda K.

Alam M. M.

Morita S.

Usuki H.

Otsuki N.

Yoshioka H.

CIRP Annals

Conventionally, the volumetric error compensation of six-axis robots is mostly based on a kinematic model with position and orientation errors of the rotary axis average lines, known as Denavit–Hartenberg (D–H) parameters. This study proposes a novel kinematic model with angular positioning deviation of each rotary axis, modeled as a function of the command angle and rotation direction. The error motions of one rotary axis can be dependent on the angular position of other axes owing to changes in the moment of inertia or center of gravity. The prediction accuracy of the proposed model was experimentally evaluated. Compensation experiments showed a significant reduction in the static volumetric error over the entire workspace.

Robot

Accuracy

Positioning

eng

Elsevier

© 2021. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/

This is not the published version. Please cite only the published version. この論文は出版社版ではありません。引用の際には出版社版をご確認、ご利用ください。

[ISSN] 0007-8506

[DOI] 10.1016/j.cirp.2021.04.079

[DOI] https://doi.org/10.1016/j.cirp.2021.04.079