Title :
Research on Error Model for a Novel Parallel Robot Coordinate Measuring Machine
Author :
Chen, Xiu-Long ; Zhao, Yong-Sheng ; Lu, Ling
Author_Institution :
Shandong Univ. of Sci. & Technol., Qingdao
Abstract :
A novel 5-degree of freedom fully PRCMM (parallel robot coordinate measuring machine) consisting of five actuating limbs and one passive constraint limb is proposed, and its inverse position model is established. Based on the matrix complete differential coefficient theory, the relation between the input parameter errors, which consist of the position errors of the joints, the kinematic errors of the actuators and the length error of probe, and the output errors at the probe of the novel PRCMM, is derived, thereby the error model is presented. The correctness of error model is verified by computer simulation. These provide an essential theoretical basis for practical error compensation and control for the novel PRCMM.
Keywords :
coordinate measuring machines; matrix algebra; robot kinematics; actuating limb; inverse position model; kinematic error; matrix complete differential coefficient theory; parallel robot coordinate measuring machine; passive constraint limb; Actuators; Computer errors; Computer simulation; Coordinate measuring machines; Error compensation; Error correction; Inverse problems; Kinematics; Parallel robots; Probes; Coordinate measuring machine; Error model; Inverse position solution; Parallel robot;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303644
