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

Park Jae-Jun (한양대학교 대학원 정밀기계공학과)
Eom Hyung-Wook (한양대학교 대학원 정밀기계공학과)
Cho Nahm-Gyoo (한양대학교 기계정보경영학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.7, 2006 , pp. 51-58 More about this Journal
Abstract
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.
Keywords
Three-DOF manipulator; Positioning error; Compensation method; Uncertainty analysis;
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Times Cited By KSCI : 1  (Citation Analysis)
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