Influence of the trajectory planning on the accuracy of theorthoglide 5-axis

Abstract : Usually, the accuracy of parallel manipulators depends on the architecture of the robot, the design parameters, the trajec-tory planning and the location of the path in the workspace. This paper reports the influence of static and dynamic parameters in computing the error in the pose associated with the trajectory planning made and analyzed with the Orthoglide 5-axis. An error model is proposed based on the joint parameters (velocity and acceleration) and experimental data coming from the Or-thoglide 5-axis. Newton and Gröbner based elimination methods are used to project the joint error in the workspace to check the accuracy/error in the Cartesian space. For the analysis, five similar trajectories with different locations inside the workspace are defined using fifth order polynomial equation for the trajec-tory planning. It is shown that the accuracy of the robot depends on the location of the path as well as the starting and the ending posture of the manipulator due to the acceleration parameters.
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Communication dans un congrès
ASME International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE), Aug 2016, Charlotte, NC, United States. Proceedings of the ASME 2016 International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE), 2016
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Soumis le : vendredi 29 avril 2016 - 14:51:56
Dernière modification le : mardi 13 décembre 2016 - 15:44:21
Document(s) archivé(s) le : lundi 23 mai 2016 - 15:46:26

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  • HAL Id : hal-01309190, version 1

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Ranjan Jha, Damien Chablat, Fabrice Rouillier, Guillaume Moroz. Influence of the trajectory planning on the accuracy of theorthoglide 5-axis. ASME International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE), Aug 2016, Charlotte, NC, United States. Proceedings of the ASME 2016 International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE), 2016. <hal-01309190>

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