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3자유도 위치 결정 기구의 위치 오차 평가 및 보정법에 대한 불확도 분석An Uncertainty Analysis of a Compensation Method for the Positioning Error of Three-DOF Manipulator
- Other Titles
- An Uncertainty Analysis of a Compensation Method for the Positioning Error of Three-DOF Manipulator
- Issue Date
- Jul-2006
- Publisher
- 한국정밀공학회
- Keywords
- Three-DOF manipulator(3 축 구동기구); Positioning error(위치 결정 오차); Compensation method(보정법); Uncertainty analysis(불확도 분석)
- Citation
- 한국정밀공학회지, v.23, no.7, pp 51 - 58
- Pages
- 8
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 23
- Number
- 7
- Start Page
- 51
- End Page
- 58
- ISSN
- 1225-9071
2287-8769
- 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.
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Related Researcher
- CHO, NAHM GYOO
- ERICA 공학대학 (DEPARTMENT OF MECHANICAL ENGINEERING)