The Multi-Joint Measuring Arm’s Error Compensation Method Based on the Pose Configurations

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volumes 117-119)
• Pages: 751-755
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.117-119.751
• Online since: October 2011
• Authors: Hui Yuan Xiong, You Xu, Zhi Jian Zong, Qun Gao
• Keywords: Error Compensation, Multi-Joint Arm, Pose Configuration

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