Novel six-axis robot kinematic model with axis-to-axis crosstalk

S. Ibaraki, K. Fukuda, M. M. Alam, S. Morita, H. Usuki, N. Otsuki, H. Yoshioka

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)411-414
Number of pages4
JournalCIRP Annals
Volume70
Issue number1
DOIs
Publication statusPublished - Jan 2021
Externally publishedYes

Keywords

  • Accuracy
  • Positioning
  • Robot

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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