Error modeling for five-axis laser processing robot

被引：0
|
作者：
Xin, Liming [1 ]
Xu, Zhigang [2 ]
Zhao, Mingyang [2 ]
Liu, Jianwei [2 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, Grad Sch, Shenyang, Liaoning, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词：
laser manufacturing; five-axis laser processing robot; error modeling; position error associated function;
D O I：
10.1109/ROBIO.2007.4522462
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces the research on error modeling of a five-axis laser processing robot which has three linear axes and two rotational axes. The error models are developed based on vector/matrix notion. Homogeneous coordinate transformations are employed to represent the ideal and real linear\rotation transformations of the five-axis laser processing robot by considering small angular approximation. Position error associated function which can reflect the influence of each error origin on the positioning error of the machine tool is given to describe the transmission error of the robot in detail. Based on this method, the paper puts forward the error model of the five-axis laser processing robot.
引用
收藏
页码：1930 / +
页数：2
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