A Novel Reversal Method for Measurement of Rotary Manipulator Geometric Errors
Pages 39 - 42
Abstract
We develop a novel method to measure six geometric errors (two position-independent geometric errors and four position-dependent geometric errors) of a rotary manipulator; we use two displacement sensors and one measurement target to this end. To enhance measurement accuracy, the method initially removes setup errors that distort the sensor data and then models the geometric errors using an nth-order polynomial equation exhibiting C1-continuity. The data are used to define the relative positions of the reference and measurement co-ordinate systems using a homogeneous transform matrix. The geometric errors of a rotary manipulator are measured using the least squares method to exploit the linear relationship between the errors and the measurement target profile. We validate our method via simulation and assess measuring uncertainties with consideration of measurement noise.
References
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Published In
March 2021
129 pages
ISBN:9781450387484
DOI:10.1145/3471985
Copyright © 2021 ACM.
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Association for Computing Machinery
New York, NY, United States
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Published: 07 October 2021
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- Research-article
- Research
- Refereed limited
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- National Research Foundation of Korea (NRF)
- National Research Foundation of Korea (NRF)
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ICRCA 2021
ICRCA 2021: 2021 the 5th International Conference on Robotics, Control and Automation
March 5 - 7, 2021
Seoul, Republic of Korea
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Overall Acceptance Rate 15 of 29 submissions, 52%
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