Influence of rotary axis angular positioning error motions on robotic probing

CIRP Annals Volume 73 Issue 1 Page 369-372 published_at 2024-05-03
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Title ( eng )
Influence of rotary axis angular positioning error motions on robotic probing
Creator
Masamine K.
Hamamura M.
Takahara O.
Source Title
CIRP Annals
Volume 73
Issue 1
Start Page 369
End Page 372
Abstract
The accuracy of touch-trigger probing by a six-axis robotic manipulator is determined by the accuracy of the robot forward kinematic model to estimate the stylus sphere position from angular positions of rotary axes. Many conventional studies have employed the Denavit–Hartenberg (DH) model, containing position and orientation errors of the rotary axis average lines as error sources. This paper proposes the application of a new kinematic model, containing the angular positioning deviations of all the rotary axes, to the robotic probing. The probing accuracy is experimentally investigated in profile probing of a straightedge over the robot's workspace.
Keywords
Robot
Probe
Accuracy
Language
eng
Resource Type journal article
Publisher
Elsevier
Date of Issued 2024-05-03
Rights
© 2024. This manuscript version is made available under the CC-BY-NC-ND 4.0 license https://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。
Publish Type Accepted Manuscript
Access Rights embargoed access
Source Identifier
[DOI] https://doi.org/10.1016/j.cirp.2024.04.074 isVersionOf
助成機関名
日本学術振興会
Japan Society for the Promotion of Science
助成機関識別子
[Crossref Funder] https://doi.org/10.13039/501100001691
研究課題名
産業用ロボットの新しいティーチングレスのアプリケーションを拓く空間精度の保証技術
Ensuring volumetric accuracy of an industrial robot to extend its offline programming applications
研究課題番号
21H01228
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