Title :
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
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;
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
DOI :
10.1109/ROBIO.2007.4522462
