The Multi-Joint Measuring Arm’s Error Compensation Method Based on the Pose Configurations
The multi-joint measuring arm’s measurement accuracy is associated with the measuring pose configuration. As the feature of the multi-joints arm with the adjacent joint orthogonal design, the triangle-based representation of measuring arm configuration was derived. Then measuring arm pose configuration simplified representation was presented. Based on the simplified representation, a polynomial model of comprehensive error compensation was proposed, and the calibration algorithm was derived.Tests confirmed the effectiveness of the method, which can effectively improve the single-point measurement accuracy.
Huixuan Zhang, Ye Han, Fuxiao Chen and Jiuba Wen
H. Y. Xiong et al., "The Multi-Joint Measuring Arm’s Error Compensation Method Based on the Pose Configurations", Applied Mechanics and Materials, Vols. 117-119, pp. 751-755, 2012