{"title":"Influence of rotary axis angular positioning error motions on robotic probing","authors":"","doi":"10.1016/j.cirp.2024.04.074","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":55256,"journal":{"name":"Cirp Annals-Manufacturing Technology","volume":"73 1","pages":"Pages 369-372"},"PeriodicalIF":3.2000,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Cirp Annals-Manufacturing Technology","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0007850624000878","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, INDUSTRIAL","Score":null,"Total":0}
引用次数: 0
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.
期刊介绍：
CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems.
This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include:
Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.
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