Study on Error in Interpolation Algorithm of the-5-DOF-Hybrid Robot

Abstract:

In order to improve the accuracy of the-5-DOF-hybrid robot motion control, it is necessary to establish a mathematical model of the error in the interpolation process. On the basis of the structure characteristics of five degrees of freedom hybrid robot and the algorithm of linear interpolation and circular interpolation, the error calculation patterns about the concave surface machining and convex surface machining are set up respectively in the paper. Then, examples are analyzed. The results show that the nonlinear error caused by using the straight-line interpolation method is much smaller than the normal vector rotation error and linear approximation error; when conducting surface machining, the error caused by the application of circular interpolation algorithm is less than linear interpolation error. By the comparison of the error analysis of different interpolation method, the control methods for reducing errors are proposed.

• Periodical: Applied Mechanics and Materials (Volumes 385-386)
• Pages: 695-698
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.385-386.695
• Online since: August 2013
• Authors: Ji Man Luo, Ming Shan Zhang, Yu Zhen An, Xiao Wei Sun
• Keywords: 5 Degrees of Freedom, Circular Interpolation, Error, Hybrid Robot, Linear Interpolation

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