温度変化に適応するためのロボット工具先端位置のモデル化

抄録

In current manufacturing industry, the demand for long-term repeatability of robots increases. We propose new thermal error models for robot arms based on the linear expansion of links. As a result of our experiment, the behavior of our model is quantitatively consistent with the experimental data. Our model can be used for correcting thermal errors, which contribute to realizing long-term repeatability of robots.