Novel six-axis robot kinematic model with axis-to-axis crosstalk
Novel six-axis robot kinematic model with axis-to-axis crosstalk
复制标题
DOI：
10.1016/j.cirp.2021.04.079
复制
发表时间：
2021-07-09
影响因子：
4.1
通讯作者：
Yoshioka, H.
中科院分区：
文献类型：
--
作者：
Ibaraki, S.;Fukuda, K.;Yoshioka, H.
传统上，六轴机器人的体积误差补偿主要基于具有旋转轴平均线的位置和方向误差的运动学模型，称为Denavit-Hartenberg（D-H）参数。本研究提出了一种新颖的运动学模型，其中每个旋转轴的角度定位偏差被建模为命令角和旋转方向的函数。由于惯性矩或重心的变化，一个旋转轴的误差运动可能取决于其他轴的角位置。通过实验评估了所提出模型的预测精度。补偿实验表明整个工作空间的静态体积误差显着减少。 (c) 2021 CIRP。由爱思唯尔有限公司出版。保留所有权利。
Conventionally, the volumetric error compensation of six-axis robots is mostly based on a kinematic model with position and orientation errors of the rotary axis average lines, known as Denavit-Hartenberg (D-H) parameters. This study proposes a novel kinematic model with angular positioning deviation of each rotary axis, modeled as a function of the command angle and rotation direction. The error motions of one rotary axis can be dependent on the angular position of other axes owing to changes in the moment of inertia or center of gravity. The prediction accuracy of the proposed model was experimentally evaluated. Compensation experiments showed a significant reduction in the static volumetric error over the entire workspace. (c) 2021 CIRP. Published by Elsevier Ltd. All rights reserved.