不完全な運動チェーンを持つパラレルマニピュレータのコンプライアンス誤差補償
Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
非線形剛性モデルに基づき、外力によるコンプライアンス誤差と運動チェーンの組立誤差を同時に補償するため目標軌道を調整する手法を提案し、Orthoglideによる溝加工例で有効性を示した。
著者: Alexandr Klimchik, Anatoly Pashkevich, Damien Chablat, Geir Hovland
分類: cs.RO
原文アブストラクト
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.
