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

Ranjan Jha (1) , Damien Chablat (1) , Fabrice Rouillier (2, 3, 4) , Guillaume Moroz (5)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 OURAGAN - OUtils de Résolution Algébriques pour la Géométrie et ses ApplicatioNs
3 UPMC - Université Pierre et Marie Curie - Paris 6
4 IMJ-PRG (UMR_7586) - Institut de Mathématiques de Jussieu - Paris Rive Gauche
5 VEGAS - Effective Geometric Algorithms for Surfaces and Visibility

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.

Domaines: Robotique [cs.RO]

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