Novel six-axis robot kinematic model with axis-to-axis crosstalk
CIRP Annals 70 巻 1 号
411-414 頁
2021-06-08 発行
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| ファイル情報(添付) | |
| タイトル ( eng ) |
Novel six-axis robot kinematic model with axis-to-axis crosstalk
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| 作成者 |
Fukuda K.
Alam M. M.
Morita S.
Usuki H.
Otsuki N.
Yoshioka H.
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| 収録物名 |
CIRP Annals
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| 巻 | 70 |
| 号 | 1 |
| 開始ページ | 411 |
| 終了ページ | 414 |
| 抄録 |
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.
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| 著者キーワード |
Robot
Accuracy
Positioning
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| 内容記述 |
This work was supported in part by JSPS KAKENHI (JP18K03874).
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| 言語 |
英語
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| 資源タイプ | 学術雑誌論文 |
| 出版者 |
Elsevier
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| 発行日 | 2021-06-08 |
| 権利情報 |
© 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。
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| 出版タイプ | Author’s Original（十分な品質であるとして、著者から正式な査読に提出される版） |
| アクセス権 | オープンアクセス |
| 収録物識別子 |
[ISSN] 0007-8506
[DOI] 10.1016/j.cirp.2021.04.079
[DOI] https://doi.org/10.1016/j.cirp.2021.04.079
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| 備考 | The full-text file will be made open to the public on 8 June 2023 in accordance with publisher's 'Terms and Conditions for Self-Archiving' |
