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Automated error analysis of serial manipulators and servo heads

Freeman, J.M. and Ford, Derek G. (2003) Automated error analysis of serial manipulators and servo heads. Proceedings of the Institute of Mechanical Engineering Part C, 217 (9). pp. 1077-1084. ISSN 0954-4062

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    Abstract

    This paper presents a general mathematical treatment of serial manipulators, an
    important example of which is the servo head. The paper includes validation by application to the
    angle head via comparison with the previously known transformations and a new application to the
    error analysis of the angle head.
    The usual approach to the error analysis of a servo head is to develop a geometrical model by
    elementary geometrical considerations using trigonometric relationships and various simplifying
    assumptions. This approach is very error prone, difŽ cult to verify and extremely time consuming. The
    techniques described here constitute matrix methods that have been programmed in a general way to
    derive automatically the analytical equations relating the angles of rotation of the head and alignment
    errors in the head to the position of the tool and errors in that position. The approach is to use
    rotation and transformation matrices to evaluate the in� uence of the various errors such as offsets
    and angular errors. A general approach to the sign convention and notation for angular errors is
    presented in an attempt to reduce the possibility of errors of deŽ nition.

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    Item Type: Article
    Additional Information: © IMechE 2003
    Subjects: T Technology > TJ Mechanical engineering and machinery
    Schools: School of Computing and Engineering
    School of Computing and Engineering > Centre for Precision Technologies
    School of Computing and Engineering > Centre for Precision Technologies > Engineering Control and Machine Performance Research Group
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    References:

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    Depositing User: Briony Heyhoe
    Date Deposited: 26 Jul 2007
    Last Modified: 25 Nov 2010 12:54
    URI: http://eprints.hud.ac.uk/id/eprint/318

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