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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2026-05-03
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Title ( eng ) |
Influence of rotary axis angular positioning error motions on robotic probing
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Creator |
Masamine K.
Hamamura M.
Takahara O.
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Source Title |
CIRP Annals
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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.
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Keywords |
Robot
Probe
Accuracy
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Language |
eng
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Resource Type | journal article |
Publisher |
Elsevier
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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。
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Publish Type | Accepted Manuscript |
Access Rights | embargoed access |
Source Identifier |
[DOI] https://doi.org/10.1016/j.cirp.2024.04.074
isVersionOf
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助成機関名 |
日本学術振興会
Japan Society for the Promotion of Science
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助成機関識別子 |
[Crossref Funder] https://doi.org/10.13039/501100001691
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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
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研究課題番号 |
21H01228
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Remark | The full-text file will be made open to the public on 3 May 2026 in accordance with publisher's 'Terms and Conditions for Self-Archiving' |