A Contribution to Multi-Axis Robot Contouring Accuracy Analysis: Modeling, Simulation, and Evaluation

[+] Author and Article Information
Ming-Yih Lee, T. Holt, A. J. Sturm

Cimcorp Inc., St. Paul, MN

J. Mech. Des 113(4), 526-530 (Dec 01, 1991) (5 pages) doi:10.1115/1.2912815 History: Received November 01, 1989; Online June 02, 2008


A new way of interpreting the 3D dynamic contouring errors attributed to a multi-axis robot system based on a relaxed performance measure was introduced. Generic contouring error models were derived for evaluating path following performance for planar and spatial contours. Estimated errors were then correlated to experimental tracking test results. Finally, an overall robot contouring performance budget was mapped into joint domain dynamics matching criteria which considered to be more meaningful from a control standpoint.

Copyright © 1991 by The American Society of Mechanical Engineers
Topics: Robots , Simulation , Modeling
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