한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제23권7호
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  • Pages.51-58
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  • 2006
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

3 자유도 위치 결정 기구의 위치 오차 평가 및 보정법에 대한 불확도 분석

An Uncertainty Analysis of a Compensation Method for the Positioning Error of Three-DOF Manipulator

  • 박재준 (한양대학교 대학원 정밀기계공학과) ;
  • 엄형욱 (한양대학교 대학원 정밀기계공학과) ;
  • 조남규 (한양대학교 기계정보경영학부)
  • 발행 : 2006.07.01
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초록

This study analyzes the uncertainty of the compensation method of a sensing error of three-DOF measuring system. This compensation method utilizes a reference coordinate system using a three point by moving a position of an endpoint of a three-DOF manipulator. The coordinate transformation between the three-DOF manipulator and the measuring system is identified by the reference coordinate system. According to the concept of this compensation method, each positioning error at any position of the end-point of the manipulator is derived. Uncertainty analyses of the compensation values on the basis of sensitivity analysis and Monte Carlo simulation are used to investigate a feasibility and effectiveness of the compensation method.

키워드

참고문헌

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