Influence of rotary axis angular positioning error motions on robotic probing

Ibaraki S.

Masamine K.

Hamamura M.

Takahara O.

CIRP Annals

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.

Robot

Probe

Accuracy

eng

Elsevier

© 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.

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[DOI] https://doi.org/10.1016/j.cirp.2024.04.074 isVersionOf

日本学術振興会

Japan Society for the Promotion of Science

[Crossref Funder] https://doi.org/10.13039/501100001691

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

21H01228