オプティカルマニピュレータの組立不精度によるビーム先端位置決め誤差の補償法に関する理論的研究 : 第2報, 結合調整法, 逆運動学的一括補償法

概要

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First step is manipulator kinematics. The actual position of final laser spot [X^*, Y^*]^T, derived in 1st report as implicit function of the aimed position [X, Y]^T and assembling inaccuracies, is now transformed into explicit function of them, through approximate linearization. The explicit function shows the potential magnitude of positioning error and the existence of several pairs of assembling inaccuracies whose contributions to positioning error can be canceled each other with some appropriate hardware in assembly. Second step is inverse manipulator kinematics. Jacobian of [X^*, Y^*]^T to [X, Y]^T is derived. Since the Jacobian is proved nonsingular, the whole contributions of all kinds of assembling inaccuracies to positioning error can be collectively compensated, in operation, by purposefully shifting the reflector joint angles [θ_1, θ_2]^T from the honest value corresponding to [X, Y]^T. Practicable approaches are given to determine the purposeful shift [δθ_1, δθ_2]^T. Thus, the problem of positioning error in rocking mirror type laser cutting machine is solved by combined adjustment in assembly and bundle compensation in operation.
一般社団法人日本機械学会の論文
1997-02-25