제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2004년도 ICCAS
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- Pages.869-874
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- 2004
ANGLE CORRECTION FOR FIVE-AXIS MILLING NEAR SINGULARITIES
- Munlin, M. (School of information and Management Technology, Sirindhorn International Institute of Technology, Thammasat University) ;
- Makhanov, S.S. (School of information and Management Technology, Sirindhorn International Institute of Technology, Thammasat University)
- 발행 : 2004.08.25
초록
The inverse kinematics of five-axis milling machines produce large errors near stationary points of the required surface. When the tool travels cross or around the point the rotation angles may jump considerably leading to unexpected deviations from the prescribed trajectories. We propose three new algorithms to repair the trajectories by adjusting the rotation angles in such a way that the kinematics error is minimized. Given the tool orientations and the inverse kinematics of the machine, we first eliminate the jumping angles exceeding
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