Influence of rotary axis angular positioning error motions on robotic probing   S. Ibaraki, K. Masamine, M. Hamamura, O. Takahara       Abstract   The accuracy of touch-trigger probing by a six-axis robotic manipulator is determined by the accuracy of the robot forward kinematic model to estimate the stylus sphere position from angular positions of rotary axes. Many conventional studies have employed the Denavit–Hartenberg (DH) model, containing position and orientation errors of the rotary axis average lines as error sources. This paper proposes the application of a new kinematic model, containing the angular positioning deviations of all the rotary axes, to the robotic probing. The probing accuracy is experimentally investigated in profile probing of a straightedge over the robot’s workspace.   Keywords: Robot, Probe, Accuracy         >> Back to Home