Error modeling for five-axis laser processing robot

Author

Xin, Liming ; Xu, Zhigang ; Zhao, Mingyang ; Liu, Jianwei

Author_Institution

Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1930

Lastpage

1935

Abstract

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 linearrotation 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.

Keywords

process control; robots; error modeling; five axis laser processing robot; homogeneous coordinate transformations; machine tool; real linearrotation transformations; small angular approximation; vector/matrix notion; Automotive engineering; Laser modes; Laser theory; Machine tools; Machining; Manufacturing industries; Manufacturing processes; Robot kinematics; Robotics and automation; Vectors; Laser manufacturing; error modeling; five-axis laser processing robot; position error associated function;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522462

Filename

4522462