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Influence of the Trajectory Planning on the Accuracy of the Orthoglide 5-Axis

[+] Author Affiliations
R. Jha, D. Chablat

Institut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

F. Rouillier

INRIA Paris-Rocquencourt, Paris, France

G. Moroz

INRIA Nancy-Grand Est, Nancy, France

Paper No. DETC2016-59231, pp. V05AT07A039; 9 pages
doi:10.1115/DETC2016-59231
From:
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5015-2
  • Copyright © 2016 by ASME

abstract

Usually, the accuracy of parallel manipulators depends on the architecture of the robot, the design parameters, the trajectory 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 Orthoglide 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 trajectory 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.

Copyright © 2016 by ASME

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