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A novel error mapping of bi-directional angular positioning deviation of rotary axes in a SCARA-type robot by “open-loop" tracking interferometer measurement
https://hiroshima.repo.nii.ac.jp/records/2008681
https://hiroshima.repo.nii.ac.jp/records/2008681e1635ade-0ccb-4774-9d42-dba04af608cd
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
PrecisionEngineering_74_60.pdf (499.9 KB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2023-03-18 | |||||||||
| タイトル | ||||||||||
| タイトル | A novel error mapping of bi-directional angular positioning deviation of rotary axes in a SCARA-type robot by “open-loop" tracking interferometer measurement | |||||||||
| 言語 | en | |||||||||
| 作成者 |
Ibaraki, Soichi
× Ibaraki, Soichi
× Usui, Ryota
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| アクセス権 | ||||||||||
| アクセス権 | open access | |||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||
| 権利情報 | ||||||||||
| 権利情報 | © 2020. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/ | |||||||||
| 権利情報 | ||||||||||
| 権利情報 | 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。 | |||||||||
| 主題 | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | SCARA robot | |||||||||
| 主題 | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Error calibration | |||||||||
| 主題 | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Volumetric accuracy | |||||||||
| 主題 | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Tracking interferometer | |||||||||
| 主題 | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Kinematic model | |||||||||
| 内容記述 | ||||||||||
| 内容記述 | To further extend the application of an industrial robot to e.g. the machining, it is crucial to ensure its three-dimensional (3D) positioning accuracy over its entire workspace. Numerous past works presented numerical compensation based on the robot kinematic model containing position and orientation errors of rotary axes average lines, widely known as Denavit-Hartenberg (D-H) parameters. This paper presents two novel contributions. First, this paper proposes a kinematic model with the angular positioning deviation “error map" of each rotary axis, which is given as a function of command angular positions. Furthermore, to model the backlash influence, it is modelled dependent also on the direction of rotation. The second contribution is on the proposal of the “open-loop" tracking interferometer measurement to indirectly identify the angular positioning deviation of each rotary axis. It measures the distance from the retroreflector, fixed on the table, to the robot's end effector at many points over the entire workspace by using a laser interferometer attached to the robot's end effector. The identified kinematic model's accuracy is experimentally investigated, and is compared to the conventional D-H model. | |||||||||
| 言語 | en | |||||||||
| 内容記述 | ||||||||||
| 内容記述タイプ | Other | |||||||||
| 内容記述 | This work was supported in part by JSPS KAKENHI Grant Number JP18K03874. | |||||||||
| 出版者 | ||||||||||
| 出版者 | Elsevier | |||||||||
| 言語 | ||||||||||
| 言語 | eng | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||
| 資源タイプ | journal article | |||||||||
| 出版タイプ | ||||||||||
| 出版タイプ | AO | |||||||||
| 出版タイプResource | http://purl.org/coar/version/c_b1a7d7d4d402bcce | |||||||||
| 関連情報 | ||||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | 10.1016/j.precisioneng.2021.11.002 | |||||||||
| 関連情報 | ||||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | https://doi.org/10.1016/j.precisioneng.2021.11.002 | |||||||||
| 収録物識別子 | ||||||||||
| 収録物識別子タイプ | ISSN | |||||||||
| 収録物識別子 | 0141-6359 | |||||||||
| 開始ページ | ||||||||||
| 開始ページ | 60 | |||||||||
| 書誌情報 |
en : Precision Engineering 巻 74, p. 60-68, 発行日 2021-11-10 |
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| 旧ID | 52265 | |||||||||
| 備考 | The full-text file will be made open to the public on 10 Nov 2023 in accordance with publisher's 'Terms and Conditions for Self-Archiving' | |||||||||
